In [1]:
import numpy as np
import torch
import random
from collections import deque
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
import datetime
import pickle
import math
import matplotlib.pyplot as plt
In [2]:
def plot_learning_curve(x, scores, figure_file):
running_avg_score = np.zeros(len(scores))
for i in range(len(running_avg_score)):
running_avg_score[i] = np.mean(scores[max(0, i-100):(i+1)])
plt.plot(x, running_avg_score, '-b')
plt.title('Média móvel das últimas 100 pontuações')
plt.savefig(figure_file)
def plot_success_curve(x, successes, figure_file):
running_success_rate = np.zeros(len(successes))
for i in range(len(running_success_rate)):
running_success_rate[i] = np.mean(successes[max(0, i-50):(i+1)])
plt.plot(x, running_success_rate, '-g')
plt.title('Taxa de sucesso dos últimos 50 episódios')
plt.savefig(figure_file)
def plot_step_curve(x, steps, figure_file):
running_step_avg = np.zeros(len(steps))
for i in range(len(running_step_avg)):
running_step_avg[i] = np.mean(steps[max(0, i-200):(i+1)])
plt.plot(x, running_step_avg, '-g')
plt.title('Média móvel da duração dos últimos 200 episódios')
plt.savefig(figure_file)
In [3]:
import mujoco
import mediapy as media
import random
class MujocoEnv1_0:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 25
self.name = "MujocoEnv-v1-0"
self.theta1 = 0
self.theta2 = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.05
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.data.qpos[0:3] = [-1,-1,2.5]
self.data.qvel[0:3] = [2.75,1,3]
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
return (theta1,theta2,x0,y0,z0,vx0,vy0,vz0)
def calculaTarget(self):
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
tempo_queda = (vz0+np.sqrt(np.abs(vz0**2+2*9.8*(z0-0.589))))/9.8
targetx = x0 + tempo_queda*vx0
targety = y0 + tempo_queda*vy0
return targetx, targety
def calculaDistanciaTarget(self, targetx, targety):
return np.sqrt((self.data.geom_xpos[9,0].copy()-targetx)**2 + (self.data.geom_xpos[9,1].copy()-targety)**2)
def calculaDistancia(self):
xo,yo,zo = self.data.geom_xpos[1].copy()
xc,yc,zc = self.data.geom_xpos[9].copy()
return np.sqrt((xo-xc)**2+(yo-yc)**2+(zo-zc)**2)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget(*self.calculaTarget())
reward = -5*distancia
if self.data.time > 3 or self.data.qpos[2] < 0.2:
done = True
if self.calculaDistancia() < 0.05:
done = True
reward += 200
print('success')
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
return (theta1,theta2,x0,y0,z0,vx0,vy0,vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget(*self.calculaTarget())
reward = -10*distancia**2
if self.data.time > 3 or self.data.qpos[2] < 0.2:
done = True
if self.calculaDistancia() < 0.05:
done = True
reward += 200
print('success')
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
x0,y0,z0 = self.data.qpos[0:3].copy()
vx0,vy0,vz0 = self.data.qvel[0:3].copy()
return (theta1,theta2,x0,y0,z0,vx0,vy0,vz0), reward, done
class MujocoEnv1_1:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 4
self.action_dim = 25
self.name = "MujocoEnv-v1-1"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
return (xc,yc,self.targetx,self.targety)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
class MujocoEnv1_2:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 4
self.action_dim = 25
self.name = "MujocoEnv-v1-2"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.targetx,self.targety)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.targetx,self.targety), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2
if self.data.time > 5:
done = True
if distancia < 0.05:
done = True
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.targetx,self.targety), reward, done
class MujocoEnv0_0:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 4
self.action_dim = 25
self.name = "MujocoEnv-v0-0"
self.theta1 = 0
self.theta2 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.05
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
xc,yc,zc = self.data.geom_xpos[9].copy()
ang = random.uniform(-np.pi,np.pi)
r = random.uniform(1,1.7)
self.targetx = r*np.sin(ang)
self.targety = r*np.cos(ang)
return (xc,yc,self.targetx,self.targety)
def calculaDistanciaTarget(self, targetx, targety):
return np.sqrt((self.data.geom_xpos[9,0].copy()-targetx)**2 + (self.data.geom_xpos[9,1].copy()-targety)**2)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget(self.targetx,self.targety)
reward = -2*distancia -2
if self.data.time > 5:
done = True
if distancia < 0.15:
done = True
reward += 200
print('success')
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget(self.targetx,self.targety)
reward = -2*distancia -2
if self.data.time > 5:
done = True
if distancia < 0.15:
done = True
reward += 200
print('success')
xc,yc,zc = self.data.geom_xpos[9].copy()
return (xc,yc,self.targetx,self.targety), reward, done
class MujocoEnv2_0:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 25
self.name = "MujocoEnv-v2-0"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
print(self.data)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
self.tfin = 0
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < 0.05:
done = True
reward += 200
print('success')
self.tfin = self.data.time
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < 0.05:
done = True
self.tfin = self.data.time
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
class MujocoEnv2_1:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 25
self.name = "MujocoEnv-v2-1"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.dist = 0.45
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
self.tfin = 0
self.angle = 0
self.radius = 0
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def setNextDistancia(self):
if self.dist>0.01:
self.dist = self.dist*0.8
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getGoodBola()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def getBolaFixa(self):
self.x0 = self.radius*np.cos(self.angle)
self.y0 = self.radius*np.sin(self.angle)
self.z0 = 2.5
self.vx0 = 0
self.vy0 = 0
self.vz0 = 2.5
self.calculaTarget()
def variaPos(self,radius,angle):
self.radius = radius
self.angle = angle
def resetFixo(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getBolaFixa()
self.calculaTarget()
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
self.dist = 0.05
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.dist:
done = True
reward += 200
print('success')
self.tfin = self.data.time
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.dist:
done = True
self.tfin = self.data.time
reward += 200
print('success')
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
class MujocoEnv2_2:
def __init__(self):
self.high = 1
self.low = -1
self.state_dim = 8
self.action_dim = 25
self.name = "MujocoEnv-v2-2"
self.theta1 = 0
self.theta2 = 0
self.x0 = 0
self.y0 = 0
self.z0 = 0
self.vx0 = 0
self.vy0 = 0
self.vz0 = 0
self.targetx = 0
self.targety = 0
self.distlist = [1.6,0.8,0.4,0.06]
self.distcount = 0
self.model = mujoco.MjModel.from_xml_path("/home/kuka/Documents/ic/codigos_bons/sim_env/environmentS.xml")
self.agent = Agent(self.state_dim,self.action_dim)
self.data = mujoco.MjData(self.model)
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.framerate = 24
self.frames = []
mujoco.mj_forward(self.model, self.data)
self.data.ctrl[6] = 0.05
self.dt = 0.1
self.tfin = 0
self.successes = 0
def calculaTarget(self):
tempo_queda = (self.vz0+np.sqrt(self.vz0**2+2*9.8*(self.z0-0.589)))/9.8
self.targetx = self.x0 + tempo_queda*self.vx0
self.targety = self.y0 + tempo_queda*self.vy0
def calculaDistanciaTarget(self):
return np.sqrt((self.data.geom_xpos[9,0].copy()-self.targetx)**2 + (self.data.geom_xpos[9,1].copy()-self.targety)**2)
def getGoodBola(self):
d=0
while d < 1 or d > 1.8:
self.x0 = random.uniform(-1.5,1.5)
self.y0 = random.uniform(-1.5,1.5)
self.z0 = random.uniform(2,3)
self.vx0 = random.uniform(-2,2)
self.vy0 = random.uniform(-2,2)
self.vz0 = random.uniform(2,3)
self.calculaTarget()
d = np.sqrt(self.targetx**2+self.targety**2)
def reset(self):
mujoco.mj_resetData(self.model, self.data)
mujoco.mj_forward(self.model, self.data)
self.frames = []
self.data.ctrl[6] = 0.3
self.renderer = None
self.renderer = mujoco.Renderer(self.model, 240, 360)
self.tfin = 0
self.getGoodBola()
self.calculaTarget()
d = self.calculaDistanciaTarget()
self.distlist = [0.75*d,0.5*d,0.25*d,0.06]
if d < 0.06: self.distlist = [0.06]
self.distcount = 0
xc,yc,zc = self.data.geom_xpos[9].copy()
self.data.qpos[0:3] = [self.x0,self.y0,self.z0]
self.data.qvel[0:3] = [self.vx0,self.vy0,self.vz0]
mujoco.mj_forward(self.model, self.data)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0)
def step(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.distlist[self.distcount]:
self.distcount += 1
reward += 100
self.successes += 1
if self.distcount == len(self.distlist):
done = True
reward += 100
print('success')
self.tfin = self.data.time
self.data.ctrl[0:6] = [0,0,0,0,0,0]
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
def rstep(self, action):
action = self.agent.take_action(action)
done = False
theta1 = self.data.qpos[7].copy()
theta2 = self.data.qpos[8].copy()
omega1 = 3*action[0]
omega2 = 3*action[1]
if theta1 < -3.2:
omega1 = max(omega1,0)
if theta1 > 3.2:
omega1 = min(omega1,0)
if theta2 > -0.1:
omega2 = min(omega2,0)
if theta2 < -1.2:
omega2 = max(omega2,0)
self.data.ctrl[0:6] = [omega1,omega2/2,-omega2,0,omega2/2,0]
nextt = self.data.time + self.dt
while self.data.time < nextt:
mujoco.mj_step(self.model, self.data)
...
distancia = self.calculaDistanciaTarget()
reward = -2*distancia-2-distancia**2
if self.data.time > 5:
done = True
self.tfin = self.data.time
if distancia < self.distlist[self.distcount]:
self.distcount += 1
reward += 100
self.successes += 1
if self.distcount == len(self.distlist):
done = True
reward += 100
print('success')
self.tfin = self.data.time
self.data.ctrl[0:6] = [0,0,0,0,0,0]
while self.data.time < 5:
mujoco.mj_step(self.model, self.data)
if len(self.frames) < self.data.time * self.framerate:
self.renderer.update_scene(self.data,camera='depth_camera0')
pixels = self.renderer.render()
self.frames.append(pixels)
self.theta1 = self.data.qpos[7]
self.theta2 = self.data.qpos[8]
return (self.theta1,self.theta2,self.x0,self.y0,self.z0,self.vx0,self.vy0,self.vz0), reward, done
In [4]:
MODEL_FILE = "./ddqn_mujoco_model"
DEVICE = torch.device("cuda" if torch.cuda.is_available() else "cpu")
class ExperienceReplay:
def __init__(self, buffer_size):
self.buffer = deque(maxlen=buffer_size)
def __len__(self):
return len(self.buffer)
# Add a transition to the memory by basic SARNS convention.
def store_transition(self, state, action, reward, new_state, done):
# If buffer is abuot to overflow, begin rewriting existing memory?
self.buffer.append((state, action, reward, new_state, done))
# Sample only the memory that has been stored. Samples BATCH
# amount of samples.
def sample(self):
sample = random.sample(self.buffer, BATCH_SIZE)
states, actions, rewards, next_states, dones = zip(*sample)
#print ("actions",actions)
states = torch.tensor(states).float().to(DEVICE)
actions = torch.stack(actions).long().to(DEVICE)
rewards = torch.from_numpy(np.array(rewards, dtype=np.float32).reshape(-1, 1)).to(DEVICE)
next_states = torch.tensor(next_states).float().to(DEVICE)
dones = torch.from_numpy(np.array(dones, dtype=np.uint8).reshape(-1, 1)).float().to(DEVICE)
return (states, actions, rewards, next_states, dones)
class QNetwork(nn.Module):
def __init__(self, state_dim, action_dim):
super(QNetwork, self).__init__()
# Make a simple 3 later linear network
self.l1 = nn.Linear(state_dim, 512)
self.l2 = nn.Linear(512, 256)
self.l3 = nn.Linear(256, action_dim)
#self.max_action = max_action
def forward(self, state):
x = F.relu(self.l1(state))
x = F.relu(self.l2(x))
#x = self.max_action * torch.tanh(self.l3(x))
return self.l3(x)
class Agent():
# Initialize the agent
def __init__(self, state_dim, action_dim):
self.memory = ExperienceReplay(MEM_SIZE)
self.action_dim = action_dim
self.main_model = QNetwork(state_dim, action_dim).to(DEVICE)
self.target_model = QNetwork(state_dim, action_dim).to(DEVICE)
self.optimizer = optim.Adam(self.main_model.parameters(), lr=LR)
self.eps = 1
self.eps_decay = 0.999
self.eps_min = 0.01
# Target model will be a copy of the main model and will not be trained
self.target_model.load_state_dict(self.main_model.state_dict())
self.target_model.eval()
# Agent saves its experiences and learn
def step(self, state, action, reward, new_state, done):
# Stores the transition into Experience Replay
self.memory.store_transition(state, action, reward, new_state, done)
# Agent will only learn when there are enough experiences
if len(self.memory) > BATCH_SIZE:
self.learn()
# Agent learns
def learn(self):
# Sample random minibatch of transitions from Experience Replay
state, action, reward, new_state, done = self.memory.sample()
#print("state",state,len(state),"\n action",action,len(action))
#print ("target",self.main_model(state))
# Computes Q(s_{curr},a') then chooses columns of actions that were taken for each batch
q_eval = self.main_model(state).gather(1,action.unsqueeze(1))
#print("a",self.main_model(state)[1],action[1],q_eval[1])
# Clone the model and use it to generate Q learning targets for the main model
# Also predicts the max Q value for the next state
#print ("target",self.main_model(state))
q_next = self.target_model(new_state).detach().max(1)[0].unsqueeze(1)
#print("b",self.target_model(new_state)[1],q_next[1])
# Q learning targets = r if next state is terminal or
# Q learning targets = r + GAMMA*(Q(s_{next},a')) if next state is not terminal
q_target = reward + GAMMA*(q_next) *(1-done)
# Compute MSE loss
loss = F.mse_loss(q_eval, q_target)
# Stochastic gradient descent on the loss function and does backpropragation
self.optimizer.zero_grad()
loss.backward()
'''for param in self.main_model.parameters():
# Clip the error term to be between -1 and 1
param.grad.data.clamp_(-1,1)'''
self.optimizer.step()
def decrement_epsilon(self):
self.eps *= self.eps_decay
if self.eps < self.eps_min:
self.eps = self.eps_min
# Action chosen is either a random action or based on the Bellman Equation
def take_action(self, action):
quinary = np.base_repr(action, base=5) # Representação em base 5
quinary = quinary.zfill(2)
action_array = np.zeros(2)
mapping = {'0': -1, '1': -1/3, '2': 0, '3': 1/3, '4': 1}
for i, n in enumerate(quinary):
action_array[i] = mapping[n]
return action_array
def choose_action(self, state):
# With probability EPSILON, select a random action
#print (state)
if np.random.random() < self.eps:
#return torch.from_numpy(self.action_space.sample())
acao = random.randint(0,8)
# Otherwise select the action with the highest Q value
else:
#print (state)
state = torch.FloatTensor(np.array(state).reshape(1,-1)).to(DEVICE)
#print ("state",state)
# action that maximizes Q*(s',a';THETA)
with torch.no_grad():
acao = self.main_model(state).max(1)[1].item()
#print ("escolhe",self.main_model(state),acao)
return acao
def soft_update_target_model(self, tau):
target_model_state_dict = self.target_model.state_dict()
main_model_state_dict = self.main_model.state_dict()
for key in main_model_state_dict:
target_model_state_dict[key] = main_model_state_dict[key] * tau + target_model_state_dict[key] * (1 - tau)
self.target_model.load_state_dict(target_model_state_dict)
def save_model(model, path):
torch.save(model.state_dict(), path)
def load_model(model, path):
model.load_state_dict(torch.load(path))
return model
def replay_actions(env, actions):
done = False
state = env.reset()
for action in actions:
env.render()
env.step(action)
env.close()
def store_actions(actions, path):
actions_file = open(path,'wb')
pickle.dump(actions, actions_file)
actions_file.close()
def load_actions(path):
actions_file = open(path,'rb')
actions = pickle.load(actions_file)
actions_file.close()
return actions
In [5]:
# Hyperparameters
N_GAMES = 30001
MEM_SIZE = 100000
BATCH_SIZE = 32
TARGET_UPDATE = 4
GAMMA = 0.99
TAU = 0.005
LR = 1e-4
In [ ]:
def main():
plt.ion()
env = MujocoEnv2_0()
state_dim = env.state_dim
action_dim = env.action_dim
agent = Agent(state_dim, action_dim)
load = input("load from model? [y/n]: ")
filename = 'DDQN_mujoco'
figure_file_score = 'plots/' + filename + '_score.png'
figure_file_catchrate = 'plots/' + filename + '_catchrate.png'
figure_file_steps = 'plots/' + filename + '_steps.png'
if load == "y":
agent.main_model = load_model(agent.main_model, MODEL_FILE)
agent.target_model = load_model(agent.main_model, MODEL_FILE)
actions = load_actions(MODEL_FILE+'_actions')
agent.eps = agent.eps_min
max_score = -10000
max_game = 0
scores = []
start = datetime.datetime.now()
step_history = []
score_history = []
success_history = []
for game in range(N_GAMES):
done = False
score = 0
success = 0
observation = env.reset()
#print(observation)
game_actions = [] # actions taken during this game
episode_start = datetime.datetime.now()
if game%500 != 499:
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.step(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
else:
while not done:
action = agent.choose_action(observation)
observation_, reward, done = env.rstep(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
media.show_video(env.frames, fps=env.framerate)
# Update variables each game
agent.decrement_epsilon()
episode_end = datetime.datetime.now()
elapsed = episode_end - episode_start
scores.append(score)
avg_score = np.mean(scores[-100:])
step_history.append(env.tfin)
score_history.append(score)
success_history.append(success)
# Checks if the max score has been beaten
if score > max_score:
max_score = score
max_game = game
save_model(agent.main_model, MODEL_FILE)
store_actions(game_actions, MODEL_FILE+'_actions')
print("eps:",agent.eps)
print('game:', game)
print('steps',env.tfin)
print('reward:', str(score))
print("max reward:", str(max_score), "at game", str(max_game))
print('average score for the last 100 games:', avg_score)
print('time:', str(elapsed.total_seconds()),'seconds')
print()
# After going through N_GAMES
end = datetime.datetime.now()
elapsed = end - start
print('Total time:',elapsed.total_seconds(), 'seconds')
x = [i+1 for i in range(N_GAMES)]
%matplotlib inline
plt.figure('learning')
plot_learning_curve(x, score_history, figure_file_score)
plt.figure('catching')
plot_success_curve(x, success_history, figure_file_catchrate)
plt.figure('steps')
plot_step_curve(x, step_history, figure_file_steps)
scores_file = open(MODEL_FILE+'_scores','wb')
pickle.dump(scores, scores_file)
scores_file.close()
main()
In [5]:
### RECOMPENSA DINÂMICA ###
# Hyperparameters
N_GAMES = 30001
MEM_SIZE = 100000
BATCH_SIZE = 32
TARGET_UPDATE = 4
GAMMA = 0.99
TAU = 0.005
LR = 1e-4
steps_taken = 0
if __name__ == '__main__':
plt.ion()
env = MujocoEnv2_1()
state_dim = env.state_dim
action_dim = env.action_dim
agent = Agent(state_dim, action_dim)
load = input("load from model? [y/n]: ")
filename = 'DDQN_mujoco_2.5'
figure_file_score = 'plots/' + filename + '_score.png'
figure_file_catchrate = 'plots/' + filename + '_catchrate.png'
figure_file_steps = 'plots/' + filename + '_steps.png'
if load == "y":
agent.main_model = load_model(agent.main_model, MODEL_FILE)
agent.target_model = load_model(agent.main_model, MODEL_FILE)
actions = load_actions(MODEL_FILE+'_actions')
agent.eps = agent.eps_min
max_score = -10000
max_game = 0
scores = []
start = datetime.datetime.now()
step_history = []
score_history = []
success_history = []
partial_success_history = []
next_level_points = []
observable_games = [i for i in range(0, 30001, 500)]
for game in range(N_GAMES):
done = False
score = 0
success = 0
observation = env.reset()
#print(observation)
game_actions = [] # actions taken during this game
episode_start = datetime.datetime.now()
if game not in observable_games:
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.step(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
else:
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.rstep(action)
action = torch.tensor(action).long()
agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0: success = 1
media.show_video(env.frames, fps=env.framerate)
# Update variables each game
agent.decrement_epsilon()
episode_end = datetime.datetime.now()
elapsed = episode_end - episode_start
scores.append(score)
avg_score = np.mean(scores[-100:])
step_history.append(env.tfin)
score_history.append(score)
success_history.append(success)
partial_success_history.append(success)
# Checks if the max score has been beaten
if score > max_score:
max_score = score
max_game = game
save_model(agent.main_model, MODEL_FILE)
store_actions(game_actions, MODEL_FILE+'_actions')
if len(partial_success_history)>600 and np.mean(partial_success_history[-100:])>0.9:
partial_success_history = []
env.setNextDistancia()
max_score = -10000
agent.eps += 0.2
next_level_points.append(game)
print('NEXT LEVEL')
print("eps:",agent.eps)
print('game:', game)
print('reward:', str(score))
print('average score for the last 100 games:', avg_score)
print('partial success avg %.2f' %np.mean(partial_success_history[-100:]), ' dist %.2f' %env.dist)
print('time:', str(elapsed.total_seconds()),'seconds')
print()
# After going through N_GAMES
end = datetime.datetime.now()
elapsed = end - start
print('Total time:',elapsed.total_seconds(), 'seconds')
x = [i+1 for i in range(N_GAMES)]
%matplotlib inline
plt.figure('learning')
plot_learning_curve(x, score_history, figure_file_score)
plt.figure('catching')
plot_success_curve(x, success_history, figure_file_catchrate)
plt.figure('steps')
plot_step_curve(x, step_history, figure_file_steps)
scores_file = open(MODEL_FILE+'_scores','wb')
pickle.dump(scores, scores_file)
scores_file.close()
success
eps: 0.999 game: 0 reward: 188.6445703374167 average score for the last 100 games: 188.6445703374167 partial success avg 1.00 dist 0.45 time: 0.639932 seconds eps: 0.998001 game: 1 reward: -847.617880536491 average score for the last 100 games: -329.4866550995372 partial success avg 0.50 dist 0.45 time: 0.418587 seconds eps: 0.997002999 game: 2 reward: -493.3475656902569 average score for the last 100 games: -384.1069586297771 partial success avg 0.33 dist 0.45 time: 0.41087 seconds success eps: 0.996005996001 game: 3 reward: 26.661413666868697 average score for the last 100 games: -281.4148655556157 partial success avg 0.50 dist 0.45 time: 0.091614 seconds success eps: 0.995009990004999 game: 4 reward: 25.732648963749 average score for the last 100 games: -219.98536265174275 partial success avg 0.60 dist 0.45 time: 0.114415 seconds success eps: 0.994014980014994 game: 5 reward: 197.55564471960633 average score for the last 100 games: -150.3951947565179 partial success avg 0.67 dist 0.45 time: 0.007261 seconds success eps: 0.993020965034979 game: 6 reward: 64.16548010367 average score for the last 100 games: -119.74366977649106 partial success avg 0.71 dist 0.45 time: 0.097073 seconds success eps: 0.9920279440699441 game: 7 reward: 144.2865835045448 average score for the last 100 games: -86.73988811636154 partial success avg 0.75 dist 0.45 time: 0.062296 seconds eps: 0.9910359161258742 game: 8 reward: -370.7169517187226 average score for the last 100 games: -118.29289518329057 partial success avg 0.67 dist 0.45 time: 0.40555 seconds eps: 0.9900448802097482 game: 9 reward: -738.1803886616339 average score for the last 100 games: -180.2816445311249 partial success avg 0.60 dist 0.45 time: 0.414478 seconds eps: 0.9890548353295385 game: 10 reward: -512.1748266498688 average score for the last 100 games: -210.45375199646526 partial success avg 0.55 dist 0.45 time: 0.389647 seconds eps: 0.988065780494209 game: 11 reward: -732.5175540223149 average score for the last 100 games: -253.95906883195275 partial success avg 0.50 dist 0.45 time: 0.373031 seconds eps: 0.9870777147137147 game: 12 reward: -381.2063386794664 average score for the last 100 games: -263.74732035868453 partial success avg 0.46 dist 0.45 time: 0.422267 seconds success eps: 0.986090636999001 game: 13 reward: 23.5288172410811 average score for the last 100 games: -243.22759624441557 partial success avg 0.50 dist 0.45 time: 0.098747 seconds success eps: 0.9851045463620021 game: 14 reward: 35.67014194102694 average score for the last 100 games: -224.6344136987194 partial success avg 0.53 dist 0.45 time: 0.171919 seconds eps: 0.98411944181564 game: 15 reward: -661.1630254466746 average score for the last 100 games: -251.91745193296657 partial success avg 0.50 dist 0.45 time: 0.43033 seconds success eps: 0.9831353223738244 game: 16 reward: 187.5005643275652 average score for the last 100 games: -226.06933332940588 partial success avg 0.53 dist 0.45 time: 0.019925 seconds success eps: 0.9821521870514506 game: 17 reward: 142.85056306443482 average score for the last 100 games: -205.57378352974806 partial success avg 0.56 dist 0.45 time: 0.050589 seconds success eps: 0.9811700348643991 game: 18 reward: 79.13545751029346 average score for the last 100 games: -190.58908663290376 partial success avg 0.58 dist 0.45 time: 0.063651 seconds eps: 0.9801888648295347 game: 19 reward: -569.7597665357487 average score for the last 100 games: -209.54762062804602 partial success avg 0.55 dist 0.45 time: 0.399831 seconds success eps: 0.9792086759647052 game: 20 reward: 179.84064265298005 average score for the last 100 games: -191.00532237656859 partial success avg 0.57 dist 0.45 time: 0.03466 seconds eps: 0.9782294672887405 game: 21 reward: -599.7436947531212 average score for the last 100 games: -209.58433930277553 partial success avg 0.55 dist 0.45 time: 0.357515 seconds eps: 0.9772512378214517 game: 22 reward: -514.9884310079809 average score for the last 100 games: -222.86277807256707 partial success avg 0.52 dist 0.45 time: 0.421155 seconds success eps: 0.9762739865836303 game: 23 reward: 70.22632694627684 average score for the last 100 games: -210.65073203011525 partial success avg 0.54 dist 0.45 time: 0.089276 seconds eps: 0.9752977125970467 game: 24 reward: -526.4739850548557 average score for the last 100 games: -223.28366215110486 partial success avg 0.52 dist 0.45 time: 0.434151 seconds eps: 0.9743224148844496 game: 25 reward: -390.58729887271227 average score for the last 100 games: -229.71841740962824 partial success avg 0.50 dist 0.45 time: 0.372975 seconds eps: 0.9733480924695651 game: 26 reward: -719.0768802582991 average score for the last 100 games: -247.84280492254197 partial success avg 0.48 dist 0.45 time: 0.422698 seconds eps: 0.9723747443770956 game: 27 reward: -671.8240631755272 average score for the last 100 games: -262.98499271729145 partial success avg 0.46 dist 0.45 time: 0.373143 seconds success eps: 0.9714023696327185 game: 28 reward: 197.45567552355004 average score for the last 100 games: -247.10772829519345 partial success avg 0.48 dist 0.45 time: 0.010642 seconds success eps: 0.9704309672630859 game: 29 reward: 140.48304780919452 average score for the last 100 games: -234.18803575838052 partial success avg 0.50 dist 0.45 time: 0.065002 seconds success eps: 0.9694605362958227 game: 30 reward: -25.75736626198878 average score for the last 100 games: -227.46446577462595 partial success avg 0.52 dist 0.45 time: 0.095742 seconds success eps: 0.9684910757595269 game: 31 reward: 53.4799617406035 average score for the last 100 games: -218.684952414775 partial success avg 0.53 dist 0.45 time: 0.146357 seconds success eps: 0.9675225846837673 game: 32 reward: 146.59733263243004 average score for the last 100 games: -207.6157922618294 partial success avg 0.55 dist 0.45 time: 0.051502 seconds success eps: 0.9665550620990835 game: 33 reward: 22.622334045971087 average score for the last 100 games: -200.84408266454116 partial success avg 0.56 dist 0.45 time: 0.10127 seconds eps: 0.9655885070369844 game: 34 reward: -632.9467185857092 average score for the last 100 games: -213.18987226228882 partial success avg 0.54 dist 0.45 time: 0.430638 seconds success eps: 0.9646229185299474 game: 35 reward: 197.0566559381387 average score for the last 100 games: -201.7941353678325 partial success avg 0.56 dist 0.45 time: 0.010836 seconds eps: 0.9636582956114175 game: 36 reward: -480.6208710504647 average score for the last 100 games: -209.3299930889847 partial success avg 0.54 dist 0.45 time: 0.451071 seconds success eps: 0.9626946373158061 game: 37 reward: 54.84892016045529 average score for the last 100 games: -202.37791642452575 partial success avg 0.55 dist 0.45 time: 0.126245 seconds eps: 0.9617319426784903 game: 38 reward: -703.0672540727359 average score for the last 100 games: -215.21610456935167 partial success avg 0.54 dist 0.45 time: 0.417585 seconds eps: 0.9607702107358118 game: 39 reward: -527.9523534084046 average score for the last 100 games: -223.03451079032797 partial success avg 0.53 dist 0.45 time: 0.418042 seconds eps: 0.959809440525076 game: 40 reward: -710.9467480204593 average score for the last 100 games: -234.93480925935555 partial success avg 0.51 dist 0.45 time: 0.461479 seconds eps: 0.9588496310845509 game: 41 reward: -660.9363578817662 average score for the last 100 games: -245.07770327417487 partial success avg 0.50 dist 0.45 time: 0.35727 seconds success eps: 0.9578907814534664 game: 42 reward: -6.22179691196709 average score for the last 100 games: -239.5229147541235 partial success avg 0.51 dist 0.45 time: 0.146934 seconds eps: 0.9569328906720129 game: 43 reward: -691.1125899401308 average score for the last 100 games: -249.7863164628964 partial success avg 0.50 dist 0.45 time: 0.374466 seconds success eps: 0.9559759577813409 game: 44 reward: 184.0216487595317 average score for the last 100 games: -240.14613945795355 partial success avg 0.51 dist 0.45 time: 0.026151 seconds success eps: 0.9550199818235596 game: 45 reward: 81.14509597519849 average score for the last 100 games: -233.1615473833198 partial success avg 0.52 dist 0.45 time: 0.069091 seconds eps: 0.9540649618417361 game: 46 reward: -599.3231202274635 average score for the last 100 games: -240.95221914596115 partial success avg 0.51 dist 0.45 time: 0.375925 seconds eps: 0.9531108968798944 game: 47 reward: -744.982924031959 average score for the last 100 games: -251.45285883108613 partial success avg 0.50 dist 0.45 time: 0.369294 seconds success eps: 0.9521577859830145 game: 48 reward: 197.36458114585125 average score for the last 100 games: -242.29331923972006 partial success avg 0.51 dist 0.45 time: 0.007009 seconds success eps: 0.9512056281970315 game: 49 reward: 197.21741355428202 average score for the last 100 games: -233.50310458383998 partial success avg 0.52 dist 0.45 time: 0.007068 seconds success eps: 0.9502544225688344 game: 50 reward: 169.77300157055285 average score for the last 100 games: -225.5957299533617 partial success avg 0.53 dist 0.45 time: 0.03903 seconds eps: 0.9493041681462656 game: 51 reward: -707.6531449763834 average score for the last 100 games: -234.8660648576506 partial success avg 0.52 dist 0.45 time: 0.374955 seconds eps: 0.9483548639781193 game: 52 reward: -407.5240171672883 average score for the last 100 games: -238.12376207104 partial success avg 0.51 dist 0.45 time: 0.411161 seconds eps: 0.9474065091141411 game: 53 reward: -490.24158150478144 average score for the last 100 games: -242.79261057907223 partial success avg 0.50 dist 0.45 time: 0.372934 seconds success eps: 0.946459102605027 game: 54 reward: -61.2452823987897 average score for the last 100 games: -239.49175006670345 partial success avg 0.51 dist 0.45 time: 0.354176 seconds eps: 0.9455126435024219 game: 55 reward: -886.097444131594 average score for the last 100 games: -251.03828031786225 partial success avg 0.50 dist 0.45 time: 0.367042 seconds eps: 0.9445671308589195 game: 56 reward: -717.6269440799992 average score for the last 100 games: -259.22404634877694 partial success avg 0.49 dist 0.45 time: 0.434883 seconds eps: 0.9436225637280606 game: 57 reward: -470.5943456952697 average score for the last 100 games: -262.86836185475096 partial success avg 0.48 dist 0.45 time: 0.439535 seconds eps: 0.9426789411643326 game: 58 reward: -475.354199424702 average score for the last 100 games: -266.46981672881793 partial success avg 0.47 dist 0.45 time: 0.359631 seconds eps: 0.9417362622231683 game: 59 reward: -528.8508831103721 average score for the last 100 games: -270.8428345018438 partial success avg 0.47 dist 0.45 time: 0.415347 seconds eps: 0.9407945259609451 game: 60 reward: -725.659170369053 average score for the last 100 games: -278.29884000786365 partial success avg 0.46 dist 0.45 time: 0.452632 seconds eps: 0.9398537314349842 game: 61 reward: -350.45182298420394 average score for the last 100 games: -279.4625977978046 partial success avg 0.45 dist 0.45 time: 0.398967 seconds eps: 0.9389138777035492 game: 62 reward: -722.393669570064 average score for the last 100 games: -286.49324973069764 partial success avg 0.44 dist 0.45 time: 0.414306 seconds eps: 0.9379749638258457 game: 63 reward: -480.2590894254472 average score for the last 100 games: -289.5208409759281 partial success avg 0.44 dist 0.45 time: 0.37312 seconds eps: 0.9370369888620198 game: 64 reward: -792.6321120071864 average score for the last 100 games: -297.261014376409 partial success avg 0.43 dist 0.45 time: 0.39145 seconds success eps: 0.9360999518731578 game: 65 reward: 120.85942121400427 average score for the last 100 games: -290.9258562614027 partial success avg 0.44 dist 0.45 time: 0.06683 seconds eps: 0.9351638519212846 game: 66 reward: -344.421387200969 average score for the last 100 games: -291.7242970216947 partial success avg 0.43 dist 0.45 time: 0.362198 seconds eps: 0.9342286880693633 game: 67 reward: -739.8639541184481 average score for the last 100 games: -298.314586096647 partial success avg 0.43 dist 0.45 time: 0.366197 seconds eps: 0.933294459381294 game: 68 reward: -426.2486911699179 average score for the last 100 games: -300.168703561477 partial success avg 0.42 dist 0.45 time: 0.401771 seconds eps: 0.9323611649219127 game: 69 reward: -539.2486564857803 average score for the last 100 games: -303.5841314603956 partial success avg 0.41 dist 0.45 time: 0.423892 seconds eps: 0.9314288037569908 game: 70 reward: -312.29325579524607 average score for the last 100 games: -303.70679518342166 partial success avg 0.41 dist 0.45 time: 0.392797 seconds success eps: 0.9304973749532338 game: 71 reward: 155.3709159220922 average score for the last 100 games: -297.3307158625118 partial success avg 0.42 dist 0.45 time: 0.045692 seconds eps: 0.9295668775782806 game: 72 reward: -509.24498851472134 average score for the last 100 games: -300.23365110432286 partial success avg 0.41 dist 0.45 time: 0.391779 seconds eps: 0.9286373107007023 game: 73 reward: -687.6392102681432 average score for the last 100 games: -305.4688613632934 partial success avg 0.41 dist 0.45 time: 0.430971 seconds eps: 0.9277086733900016 game: 74 reward: -833.5464819668945 average score for the last 100 games: -312.5098963046748 partial success avg 0.40 dist 0.45 time: 0.363477 seconds eps: 0.9267809647166116 game: 75 reward: -980.7897397792609 average score for the last 100 games: -321.3030521398667 partial success avg 0.39 dist 0.45 time: 0.373225 seconds eps: 0.925854183751895 game: 76 reward: -692.6534563868398 average score for the last 100 games: -326.1257846625547 partial success avg 0.39 dist 0.45 time: 0.416675 seconds success eps: 0.9249283295681431 game: 77 reward: 17.447763503556445 average score for the last 100 games: -321.720995583502 partial success avg 0.40 dist 0.45 time: 0.09887 seconds eps: 0.9240034012385749 game: 78 reward: -674.1982539128929 average score for the last 100 games: -326.1827330307094 partial success avg 0.39 dist 0.45 time: 0.401562 seconds success eps: 0.9230793978373364 game: 79 reward: 172.7567858130228 average score for the last 100 games: -319.9459890451628 partial success avg 0.40 dist 0.45 time: 0.033626 seconds eps: 0.9221563184394991 game: 80 reward: -349.73214540994434 average score for the last 100 games: -320.3137193706539 partial success avg 0.40 dist 0.45 time: 0.386685 seconds eps: 0.9212341621210596 game: 81 reward: -659.1291521510695 average score for the last 100 games: -324.4456148923663 partial success avg 0.39 dist 0.45 time: 0.361119 seconds eps: 0.9203129279589385 game: 82 reward: -793.1635561787496 average score for the last 100 games: -330.0928190042504 partial success avg 0.39 dist 0.45 time: 0.369917 seconds success eps: 0.9193926150309796 game: 83 reward: 34.474194975386126 average score for the last 100 games: -325.7527355044928 partial success avg 0.39 dist 0.45 time: 0.139192 seconds success eps: 0.9184732224159486 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/home/kuka/miniconda3/lib/python3.9/site-packages/numpy/core/fromnumeric.py:3504: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /home/kuka/miniconda3/lib/python3.9/site-packages/numpy/core/_methods.py:129: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount)
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0.132669 seconds success eps: 0.3189736794292723 game: 1864 reward: 83.82081602700026 average score for the last 100 games: -19.640591171085934 partial success avg 0.74 dist 0.36 time: 0.191744 seconds success eps: 0.318654705749843 game: 1865 reward: 147.56815631512052 average score for the last 100 games: -14.900241797935092 partial success avg 0.75 dist 0.36 time: 0.093054 seconds success eps: 0.3183360510440932 game: 1866 reward: 185.16084740349248 average score for the last 100 games: -9.949240708876964 partial success avg 0.76 dist 0.36 time: 0.033007 seconds success eps: 0.3180177149930491 game: 1867 reward: -64.65825263626633 average score for the last 100 games: -12.571666007158356 partial success avg 0.76 dist 0.36 time: 0.304381 seconds success eps: 0.317699697278056 game: 1868 reward: 161.94465493721867 average score for the last 100 games: -12.599057338242414 partial success avg 0.76 dist 0.36 time: 0.055946 seconds success eps: 0.31738199758077795 game: 1869 reward: 146.81892511259633 average score for the last 100 games: -11.468766762981756 partial success avg 0.76 dist 0.36 time: 0.11783 seconds eps: 0.31706461558319715 game: 1870 reward: -256.44611051110485 average score for the last 100 games: -10.528070232833125 partial success avg 0.76 dist 0.36 time: 0.526866 seconds success eps: 0.316747550967614 game: 1871 reward: 138.63012166417155 average score for the last 100 games: -10.81330540361009 partial success avg 0.76 dist 0.36 time: 0.095434 seconds success eps: 0.31643080341664637 game: 1872 reward: 24.778229246320763 average score for the last 100 games: -12.07210431116908 partial success avg 0.76 dist 0.36 time: 0.343715 seconds success eps: 0.3161143726132297 game: 1873 reward: 141.10421567145852 average score for the last 100 games: -12.352478760436862 partial success avg 0.76 dist 0.36 time: 0.109391 seconds success eps: 0.31579825824061647 game: 1874 reward: 182.06425633785315 average score for the last 100 games: -11.860063685450193 partial success avg 0.76 dist 0.36 time: 0.026696 seconds success eps: 0.31548245998237584 game: 1875 reward: 84.1556428796063 average score for the last 100 games: -12.554224964794516 partial success avg 0.76 dist 0.36 time: 0.111628 seconds success eps: 0.3151669775223935 game: 1876 reward: 156.27004607189207 average score for the last 100 games: -7.382227827791985 partial success avg 0.77 dist 0.36 time: 0.076572 seconds success eps: 0.3148518105448711 game: 1877 reward: 166.8200890887635 average score for the last 100 games: -6.227715049643775 partial success avg 0.77 dist 0.36 time: 0.054043 seconds eps: 0.31453695873432624 game: 1878 reward: -325.2975934937108 average score for the last 100 games: -9.810502817230443 partial success avg 0.76 dist 0.36 time: 0.431804 seconds success eps: 0.3142224217755919 game: 1879 reward: 154.39336503668147 average score for the last 100 games: -8.1759077092289 partial success avg 0.76 dist 0.36 time: 0.082124 seconds success eps: 0.3139081993538163 game: 1880 reward: 133.36724504833347 average score for the last 100 games: -1.6335078654354942 partial success avg 0.77 dist 0.36 time: 0.054408 seconds success eps: 0.31359429115446247 game: 1881 reward: 108.92466222483559 average score for the last 100 games: -2.364558315348672 partial success avg 0.77 dist 0.36 time: 0.148193 seconds success eps: 0.313280696863308 game: 1882 reward: 176.77645789231175 average score for the last 100 games: 3.230649464715449 partial success avg 0.78 dist 0.36 time: 0.042489 seconds eps: 0.3129674161664447 game: 1883 reward: -445.16013938102407 average score for the last 100 games: -2.1358794539137516 partial success avg 0.77 dist 0.36 time: 0.478489 seconds eps: 0.31265444875027826 game: 1884 reward: -820.3231047025027 average score for the last 100 games: -7.806628738301254 partial success avg 0.77 dist 0.36 time: 0.384752 seconds success eps: 0.312341794301528 game: 1885 reward: 131.34382763249033 average score for the last 100 games: 4.137940018783574 partial success avg 0.78 dist 0.36 time: 0.150199 seconds success eps: 0.31202945250722647 game: 1886 reward: 120.76807583571654 average score for the last 100 games: 9.09928663493595 partial success avg 0.79 dist 0.36 time: 0.15953 seconds success eps: 0.3117174230547192 game: 1887 reward: 181.8136666074489 average score for the last 100 games: 9.22735469144373 partial success avg 0.79 dist 0.36 time: 0.028225 seconds success eps: 0.3114057056316645 game: 1888 reward: 122.49635245877003 average score for the last 100 games: 8.68962102082829 partial success avg 0.79 dist 0.36 time: 0.073088 seconds success eps: 0.3110942999260328 game: 1889 reward: 171.74245123039458 average score for the last 100 games: 8.910490580534598 partial success avg 0.79 dist 0.36 time: 0.042621 seconds success eps: 0.3107832056261068 game: 1890 reward: 142.7274482311921 average score for the last 100 games: 9.043764869588701 partial success avg 0.79 dist 0.36 time: 0.081255 seconds success eps: 0.3104724224204807 game: 1891 reward: 130.36070470019513 average score for the last 100 games: 12.99185011811574 partial success avg 0.80 dist 0.36 time: 0.117874 seconds success eps: 0.3101619499980602 game: 1892 reward: 29.24661716211449 average score for the last 100 games: 11.312736434983442 partial success avg 0.80 dist 0.36 time: 0.17776 seconds success eps: 0.3098517880480621 game: 1893 reward: 141.06950412207672 average score for the last 100 games: 15.93890788415722 partial success avg 0.81 dist 0.36 time: 0.05887 seconds eps: 0.3095419362600141 game: 1894 reward: -229.3027932115562 average score for the last 100 games: 11.8722379308546 partial success avg 0.80 dist 0.36 time: 0.439115 seconds success eps: 0.30923239432375405 game: 1895 reward: 178.45867395686048 average score for the last 100 games: 12.01253430042324 partial success avg 0.80 dist 0.36 time: 0.040064 seconds success eps: 0.3089231619294303 game: 1896 reward: 148.4792497888812 average score for the last 100 games: 16.497137725090155 partial success avg 0.81 dist 0.36 time: 0.053257 seconds success eps: 0.3086142387675009 game: 1897 reward: 159.82371008008442 average score for the last 100 games: 21.49477499514407 partial success avg 0.82 dist 0.36 time: 0.066861 seconds success eps: 0.3083056245287334 game: 1898 reward: 107.95906949373779 average score for the last 100 games: 20.825134772045338 partial success avg 0.82 dist 0.36 time: 0.090858 seconds success eps: 0.3079973189042047 game: 1899 reward: -203.41385725249913 average score for the last 100 games: 20.918785632310016 partial success avg 0.83 dist 0.36 time: 0.348282 seconds success eps: 0.3076893215853005 game: 1900 reward: 163.01860967600032 average score for the last 100 games: 21.01678463123827 partial success avg 0.83 dist 0.36 time: 0.055128 seconds success eps: 0.3073816322637152 game: 1901 reward: -51.022057379149345 average score for the last 100 games: 24.257425949681988 partial success avg 0.84 dist 0.36 time: 0.412468 seconds eps: 0.30707425063145144 game: 1902 reward: -246.09913384363892 average score for the last 100 games: 20.606208473034666 partial success avg 0.83 dist 0.36 time: 0.414926 seconds success eps: 0.30676717638081996 game: 1903 reward: 159.95400848808518 average score for the last 100 games: 32.76863376538165 partial success avg 0.84 dist 0.36 time: 0.072292 seconds success eps: 0.3064604092044391 game: 1904 reward: 161.78803784242078 average score for the last 100 games: 33.55116890877891 partial success avg 0.84 dist 0.36 time: 0.065205 seconds success eps: 0.30615394879523466 game: 1905 reward: -131.91008991995417 average score for the last 100 games: 35.01467674491996 partial success avg 0.85 dist 0.36 time: 0.177922 seconds success eps: 0.3058477948464394 game: 1906 reward: 126.45458705890236 average score for the last 100 games: 34.58430820815036 partial success avg 0.85 dist 0.36 time: 0.137418 seconds success eps: 0.305541947051593 game: 1907 reward: 197.40549495192252 average score for the last 100 games: 40.876449210992305 partial success avg 0.86 dist 0.36 time: 0.00712 seconds success eps: 0.3052364051045414 game: 1908 reward: 139.5783160124714 average score for the last 100 games: 40.986735924623574 partial success avg 0.86 dist 0.36 time: 0.072908 seconds success eps: 0.30493116869943687 game: 1909 reward: 31.18680974821328 average score for the last 100 games: 40.00418527796818 partial success avg 0.86 dist 0.36 time: 0.199984 seconds success eps: 0.3046262375307374 game: 1910 reward: 57.544259139013604 average score for the last 100 games: 38.81885949627558 partial success avg 0.86 dist 0.36 time: 0.169326 seconds success eps: 0.3043216112932067 game: 1911 reward: 99.04716698434041 average score for the last 100 games: 40.078834369511675 partial success avg 0.86 dist 0.36 time: 0.067297 seconds success eps: 0.30401728968191344 game: 1912 reward: 162.7748054242084 average score for the last 100 games: 41.44542713157878 partial success avg 0.86 dist 0.36 time: 0.048122 seconds success eps: 0.3037132723922315 game: 1913 reward: 143.1999809724349 average score for the last 100 games: 41.247128872937346 partial success avg 0.86 dist 0.36 time: 0.052384 seconds success eps: 0.30340955911983924 game: 1914 reward: 174.71735454875895 average score for the last 100 games: 41.29342238618576 partial success avg 0.86 dist 0.36 time: 0.032262 seconds success eps: 0.3031061495607194 game: 1915 reward: 122.63241775207419 average score for the last 100 games: 41.62499874217884 partial success avg 0.86 dist 0.36 time: 0.058366 seconds success eps: 0.3028030434111587 game: 1916 reward: 157.2926415804004 average score for the last 100 games: 41.22408240235177 partial success avg 0.86 dist 0.36 time: 0.041293 seconds success eps: 0.30250024036774753 game: 1917 reward: 159.63686570323503 average score for the last 100 games: 42.160637605012404 partial success avg 0.86 dist 0.36 time: 0.039792 seconds success eps: 0.30219774012737977 game: 1918 reward: 141.73894849710663 average score for the last 100 games: 41.67870543855436 partial success avg 0.86 dist 0.36 time: 0.047365 seconds success eps: 0.3018955423872524 game: 1919 reward: 180.48179859318216 average score for the last 100 games: 47.01995955871125 partial success avg 0.87 dist 0.36 time: 0.032177 seconds success eps: 0.30159364684486517 game: 1920 reward: 171.41573605559267 average score for the last 100 games: 47.06769515606831 partial success avg 0.87 dist 0.36 time: 0.05976 seconds success eps: 0.3012920531980203 game: 1921 reward: 177.0554507990989 average score for the last 100 games: 51.39919240039836 partial success avg 0.88 dist 0.36 time: 0.039059 seconds success eps: 0.3009907611448223 game: 1922 reward: 159.57995971752052 average score for the last 100 games: 51.372607082422455 partial success avg 0.88 dist 0.36 time: 0.076803 seconds success eps: 0.3006897703836775 game: 1923 reward: 133.6272948862907 average score for the last 100 games: 50.80728416328816 partial success avg 0.88 dist 0.36 time: 0.051972 seconds success eps: 0.30038908061329384 game: 1924 reward: 194.60395550375472 average score for the last 100 games: 51.7319744314883 partial success avg 0.88 dist 0.36 time: 0.014859 seconds success eps: 0.30008869153268053 game: 1925 reward: 164.08087915063908 average score for the last 100 games: 51.493367136929095 partial success avg 0.88 dist 0.36 time: 0.061007 seconds success eps: 0.29978860284114783 game: 1926 reward: 120.892101458059 average score for the last 100 games: 51.26020139984819 partial success avg 0.88 dist 0.36 time: 0.066514 seconds success eps: 0.2994888142383067 game: 1927 reward: 168.61317811111002 average score for the last 100 games: 52.105888629325754 partial success avg 0.88 dist 0.36 time: 0.055362 seconds eps: 0.2991893254240684 game: 1928 reward: -224.68113882525657 average score for the last 100 games: 48.34637432245975 partial success avg 0.87 dist 0.36 time: 0.490389 seconds success eps: 0.29889013609864434 game: 1929 reward: 153.1259995588463 average score for the last 100 games: 54.68846336520362 partial success avg 0.87 dist 0.36 time: 0.03948 seconds success eps: 0.2985912459625457 game: 1930 reward: 26.35623129540616 average score for the last 100 games: 53.773774218354674 partial success avg 0.87 dist 0.36 time: 0.147651 seconds success eps: 0.29829265471658317 game: 1931 reward: 147.0567687761103 average score for the last 100 games: 53.601002230786264 partial success avg 0.87 dist 0.36 time: 0.046083 seconds success eps: 0.2979943620618666 game: 1932 reward: 80.40817176450864 average score for the last 100 games: 53.440073418638825 partial success avg 0.87 dist 0.36 time: 0.119329 seconds success eps: 0.29769636769980473 game: 1933 reward: 57.408783674091154 average score for the last 100 games: 63.319628769558115 partial success avg 0.88 dist 0.36 time: 0.109006 seconds eps: 0.2973986713321049 game: 1934 reward: -241.05275038831115 average score for the last 100 games: 63.979651292063274 partial success avg 0.88 dist 0.36 time: 0.416648 seconds eps: 0.2971012726607728 game: 1935 reward: -310.7615543939327 average score for the last 100 games: 58.8987159191689 partial success avg 0.87 dist 0.36 time: 0.428973 seconds eps: 0.29680417138811205 game: 1936 reward: -468.6538795085744 average score for the last 100 games: 52.68930455775183 partial success avg 0.86 dist 0.36 time: 0.410964 seconds success eps: 0.29650736721672394 game: 1937 reward: 155.20928038628185 average score for the last 100 games: 52.70383221508354 partial success avg 0.86 dist 0.36 time: 0.043431 seconds success eps: 0.29621085984950724 game: 1938 reward: 156.0270765753412 average score for the last 100 games: 53.49081717911459 partial success avg 0.86 dist 0.36 time: 0.058709 seconds success eps: 0.29591464898965775 game: 1939 reward: 58.530837290898916 average score for the last 100 games: 53.7919706048815 partial success avg 0.86 dist 0.36 time: 0.080173 seconds success eps: 0.2956187343406681 game: 1940 reward: 76.35852136663888 average score for the last 100 games: 54.668873000352875 partial success avg 0.86 dist 0.36 time: 0.074354 seconds success eps: 0.29532311560632746 game: 1941 reward: 129.81539315282734 average score for the last 100 games: 60.82598949474796 partial success avg 0.87 dist 0.36 time: 0.106356 seconds eps: 0.29502779249072114 game: 1942 reward: -275.1049917019346 average score for the last 100 games: 59.314063991649526 partial success avg 0.86 dist 0.36 time: 0.424098 seconds success eps: 0.2947327646982304 game: 1943 reward: 132.6374075345266 average score for the last 100 games: 59.11384582333081 partial success avg 0.86 dist 0.36 time: 0.136942 seconds success eps: 0.2944380319335322 game: 1944 reward: 170.89627282075992 average score for the last 100 games: 64.08415431008706 partial success avg 0.87 dist 0.36 time: 0.057957 seconds success eps: 0.29414359390159867 game: 1945 reward: 12.251520164578096 average score for the last 100 games: 62.62774122529473 partial success avg 0.87 dist 0.36 time: 0.12475 seconds success eps: 0.29384945030769705 game: 1946 reward: 190.3974242435168 average score for the last 100 games: 69.67115106553948 partial success avg 0.88 dist 0.36 time: 0.020036 seconds eps: 0.29355560085738935 game: 1947 reward: -204.52205651191593 average score for the last 100 games: 66.3216408876541 partial success avg 0.87 dist 0.36 time: 0.436329 seconds success eps: 0.293262045256532 game: 1948 reward: 192.75238030994737 average score for the last 100 games: 66.57197963950031 partial success avg 0.87 dist 0.36 time: 0.015335 seconds success eps: 0.29296878321127545 game: 1949 reward: 173.2199437727924 average score for the last 100 games: 67.1597271245194 partial success avg 0.87 dist 0.36 time: 0.047121 seconds success eps: 0.2926758144280642 game: 1950 reward: 86.13932536988622 average score for the last 100 games: 66.14134036110741 partial success avg 0.87 dist 0.36 time: 0.121575 seconds success eps: 0.29238313861363613 game: 1951 reward: 158.5951820709471 average score for the last 100 games: 65.85271656492753 partial success avg 0.87 dist 0.36 time: 0.074343 seconds success eps: 0.2920907554750225 game: 1952 reward: 55.537024283274974 average score for the last 100 games: 64.68277563822289 partial success avg 0.87 dist 0.36 time: 0.075142 seconds success eps: 0.29179866471954746 game: 1953 reward: 150.23789046451208 average score for the last 100 games: 64.39480768808865 partial success avg 0.87 dist 0.36 time: 0.04685 seconds success eps: 0.2915068660548279 game: 1954 reward: 157.32679438992633 average score for the last 100 games: 64.63889502378834 partial success avg 0.87 dist 0.36 time: 0.073967 seconds eps: 0.29121535918877306 game: 1955 reward: -252.0014418184628 average score for the last 100 games: 60.33283732156824 partial success avg 0.86 dist 0.36 time: 0.373123 seconds success eps: 0.2909241438295843 game: 1956 reward: 91.23131708980361 average score for the last 100 games: 59.72415300116404 partial success avg 0.86 dist 0.36 time: 0.181851 seconds success eps: 0.29063321968575473 game: 1957 reward: -115.72897986690651 average score for the last 100 games: 61.806638981298704 partial success avg 0.87 dist 0.36 time: 0.245463 seconds success eps: 0.290342586466069 game: 1958 reward: 159.7141484100526 average score for the last 100 games: 61.85998721272105 partial success avg 0.87 dist 0.36 time: 0.066379 seconds success eps: 0.2900522438796029 game: 1959 reward: -20.39599246937459 average score for the last 100 games: 59.939838041469905 partial success avg 0.87 dist 0.36 time: 0.124109 seconds eps: 0.28976219163572325 game: 1960 reward: -980.7397454130784 average score for the last 100 games: 48.18845934248263 partial success avg 0.86 dist 0.36 time: 0.392464 seconds success eps: 0.2894724294440875 game: 1961 reward: 46.602468323336836 average score for the last 100 games: 47.93608270878363 partial success avg 0.86 dist 0.36 time: 0.085063 seconds success eps: 0.2891829570146434 game: 1962 reward: 197.185884911259 average score for the last 100 games: 49.0313748815337 partial success avg 0.86 dist 0.36 time: 0.00765 seconds success eps: 0.2888937740576288 game: 1963 reward: 145.33517426438846 average score for the last 100 games: 49.2028929994776 partial success avg 0.86 dist 0.36 time: 0.075818 seconds success eps: 0.2886048802835712 game: 1964 reward: 181.69967928443126 average score for the last 100 games: 50.181681632051905 partial success avg 0.86 dist 0.36 time: 0.028731 seconds success eps: 0.2883162754032876 game: 1965 reward: 87.25879403935899 average score for the last 100 games: 49.57858800929428 partial success avg 0.86 dist 0.36 time: 0.09728 seconds eps: 0.2880279591278843 game: 1966 reward: -215.58148781385404 average score for the last 100 games: 45.57116465712082 partial success avg 0.85 dist 0.36 time: 0.428334 seconds eps: 0.2877399311687564 game: 1967 reward: -220.16870195999053 average score for the last 100 games: 44.01606016388359 partial success avg 0.84 dist 0.36 time: 0.443196 seconds success eps: 0.28745219123758764 game: 1968 reward: 164.18034008162942 average score for the last 100 games: 44.038417015327695 partial success avg 0.84 dist 0.36 time: 0.041387 seconds success eps: 0.28716473904635004 game: 1969 reward: 114.27136251463143 average score for the last 100 games: 43.71294138934805 partial success avg 0.84 dist 0.36 time: 0.07673 seconds success eps: 0.2868775743073037 game: 1970 reward: 176.13526915975308 average score for the last 100 games: 48.03875518605663 partial success avg 0.85 dist 0.36 time: 0.050033 seconds success eps: 0.2865906967329964 game: 1971 reward: 125.93464607887205 average score for the last 100 games: 47.91180043020363 partial success avg 0.85 dist 0.36 time: 0.066991 seconds success eps: 0.28630410603626344 game: 1972 reward: 182.72499883705734 average score for the last 100 games: 49.491268126111 partial success avg 0.85 dist 0.36 time: 0.038256 seconds eps: 0.2860178019302272 game: 1973 reward: -252.82148942550458 average score for the last 100 games: 45.55201107514137 partial success avg 0.84 dist 0.36 time: 0.4567 seconds success eps: 0.285731784128297 game: 1974 reward: 79.08688619285442 average score for the last 100 games: 44.52223737369139 partial success avg 0.84 dist 0.36 time: 0.124889 seconds eps: 0.2854460523441687 game: 1975 reward: -345.4970512805699 average score for the last 100 games: 40.22571043208962 partial success avg 0.83 dist 0.36 time: 0.428911 seconds success eps: 0.28516060629182455 game: 1976 reward: 142.658483648278 average score for the last 100 games: 40.08959480785348 partial success avg 0.83 dist 0.36 time: 0.113354 seconds success eps: 0.28487544568553275 game: 1977 reward: 169.35090237556236 average score for the last 100 games: 40.114902940721464 partial success avg 0.83 dist 0.36 time: 0.03377 seconds success eps: 0.28459057023984724 game: 1978 reward: 180.6379161675486 average score for the last 100 games: 45.174258037334056 partial success avg 0.84 dist 0.36 time: 0.027008 seconds eps: 0.2843059796696074 game: 1979 reward: -471.6374643108309 average score for the last 100 games: 38.91394974385893 partial success avg 0.83 dist 0.36 time: 0.448827 seconds success eps: 0.2840216736899378 game: 1980 reward: 173.3805141543355 average score for the last 100 games: 39.314082434918944 partial success avg 0.83 dist 0.36 time: 0.054086 seconds success eps: 0.28373765201624784 game: 1981 reward: -49.21338776073517 average score for the last 100 games: 37.73270193506325 partial success avg 0.83 dist 0.36 time: 0.301375 seconds success eps: 0.2834539143642316 game: 1982 reward: 106.40011946063369 average score for the last 100 games: 37.02893855074646 partial success avg 0.83 dist 0.36 time: 0.166782 seconds eps: 0.2831704604498674 game: 1983 reward: -356.93911625836984 average score for the last 100 games: 37.911148781973004 partial success avg 0.83 dist 0.36 time: 0.422305 seconds success eps: 0.28288728998941753 game: 1984 reward: 144.85754999634767 average score for the last 100 games: 47.56295532896152 partial success avg 0.84 dist 0.36 time: 0.103605 seconds success eps: 0.2826044026994281 game: 1985 reward: 177.72120313345354 average score for the last 100 games: 48.02672908397116 partial success avg 0.84 dist 0.36 time: 0.033429 seconds success eps: 0.28232179829672865 game: 1986 reward: 141.38190096588838 average score for the last 100 games: 48.232867335272864 partial success avg 0.84 dist 0.36 time: 0.107256 seconds success eps: 0.2820394764984319 game: 1987 reward: 156.19868207777307 average score for the last 100 games: 47.97671748997612 partial success avg 0.84 dist 0.36 time: 0.066298 seconds success eps: 0.2817574370219335 game: 1988 reward: 55.65710413472948 average score for the last 100 games: 47.308325006735714 partial success avg 0.84 dist 0.36 time: 0.085251 seconds success eps: 0.2814756795849116 game: 1989 reward: 193.0245385075008 average score for the last 100 games: 47.52114587950677 partial success avg 0.84 dist 0.36 time: 0.013683 seconds success eps: 0.2811942039053267 game: 1990 reward: 193.27901281672237 average score for the last 100 games: 48.02666152536207 partial success avg 0.84 dist 0.36 time: 0.01427 seconds success eps: 0.28091300970142136 game: 1991 reward: 180.58975556530524 average score for the last 100 games: 48.52895203401317 partial success avg 0.84 dist 0.36 time: 0.027035 seconds success eps: 0.28063209669171996 game: 1992 reward: 125.9275372677536 average score for the last 100 games: 49.495761235069565 partial success avg 0.84 dist 0.36 time: 0.054268 seconds eps: 0.28035146459502824 game: 1993 reward: -395.53408333745244 average score for the last 100 games: 44.129725360474275 partial success avg 0.83 dist 0.36 time: 0.414687 seconds success eps: 0.2800711131304332 game: 1994 reward: 194.14879646405296 average score for the last 100 games: 48.36424125723037 partial success avg 0.84 dist 0.36 time: 0.014047 seconds success eps: 0.27979104201730276 game: 1995 reward: 161.46289955603504 average score for the last 100 games: 48.19428351322211 partial success avg 0.84 dist 0.36 time: 0.053081 seconds success eps: 0.27951125097528545 game: 1996 reward: 197.30627778046707 average score for the last 100 games: 48.68255379313797 partial success avg 0.84 dist 0.36 time: 0.011395 seconds success eps: 0.27923173972431015 game: 1997 reward: 150.7466655888629 average score for the last 100 games: 48.591783348225746 partial success avg 0.84 dist 0.36 time: 0.066036 seconds success eps: 0.2789525079845858 game: 1998 reward: 36.425966907782595 average score for the last 100 games: 47.876452322366205 partial success avg 0.84 dist 0.36 time: 0.238403 seconds success eps: 0.2786735554766012 game: 1999 reward: 115.03632109184582 average score for the last 100 games: 51.06095410580965 partial success avg 0.84 dist 0.36 time: 0.109845 seconds success
eps: 0.2783948819211246 game: 2000 reward: 96.65395391209042 average score for the last 100 games: 50.39730754817056 partial success avg 0.84 dist 0.36 time: 0.601184 seconds success eps: 0.2781164870392035 game: 2001 reward: 174.770741440132 average score for the last 100 games: 52.655235536363364 partial success avg 0.84 dist 0.36 time: 0.061104 seconds success eps: 0.2778383705521643 game: 2002 reward: 154.15185003924012 average score for the last 100 games: 56.657745375192164 partial success avg 0.85 dist 0.36 time: 0.048325 seconds success eps: 0.27756053218161214 game: 2003 reward: 156.72190220391687 average score for the last 100 games: 56.625424312350475 partial success avg 0.85 dist 0.36 time: 0.083115 seconds eps: 0.27728297164943055 game: 2004 reward: -310.0726531650597 average score for the last 100 games: 51.90681740227567 partial success avg 0.84 dist 0.36 time: 0.392048 seconds success eps: 0.27700568867778114 game: 2005 reward: 173.00814129863267 average score for the last 100 games: 54.955999714461534 partial success avg 0.84 dist 0.36 time: 0.054038 seconds success eps: 0.27672868298910336 game: 2006 reward: 144.88541362314965 average score for the last 100 games: 55.140307980104005 partial success avg 0.84 dist 0.36 time: 0.045352 seconds eps: 0.27645195430611424 game: 2007 reward: -338.59063065908265 average score for the last 100 games: 49.78034672399395 partial success avg 0.83 dist 0.36 time: 0.430564 seconds success eps: 0.27617550235180816 game: 2008 reward: 176.51184964208792 average score for the last 100 games: 50.149682060290125 partial success avg 0.83 dist 0.36 time: 0.04832 seconds success eps: 0.27589932684945634 game: 2009 reward: 175.73660169358666 average score for the last 100 games: 51.595179979743854 partial success avg 0.83 dist 0.36 time: 0.049981 seconds eps: 0.2756234275226069 game: 2010 reward: -262.81133069122404 average score for the last 100 games: 48.391624081441485 partial success avg 0.82 dist 0.36 time: 0.418072 seconds success eps: 0.27534780409508425 game: 2011 reward: 111.97381963256873 average score for the last 100 games: 48.52089060792377 partial success avg 0.82 dist 0.36 time: 0.137991 seconds success eps: 0.27507245629098914 game: 2012 reward: 138.93425044015981 average score for the last 100 games: 48.28248505808328 partial success avg 0.82 dist 0.36 time: 0.057268 seconds success eps: 0.27479738383469815 game: 2013 reward: 180.37665655420724 average score for the last 100 games: 48.65425181390101 partial success avg 0.82 dist 0.36 time: 0.033923 seconds success eps: 0.27452258645086347 game: 2014 reward: 162.1879196109827 average score for the last 100 games: 48.52895746452324 partial success avg 0.82 dist 0.36 time: 0.066738 seconds success eps: 0.2742480638644126 game: 2015 reward: 54.563977977228205 average score for the last 100 games: 47.84827306677478 partial success avg 0.82 dist 0.36 time: 0.083893 seconds success eps: 0.2739738158005482 game: 2016 reward: 165.60554041138755 average score for the last 100 games: 47.93140205508465 partial success avg 0.82 dist 0.36 time: 0.064155 seconds eps: 0.27369984198474767 game: 2017 reward: -532.4631618089617 average score for the last 100 games: 41.010401779962685 partial success avg 0.81 dist 0.36 time: 0.47975 seconds success eps: 0.27342614214276295 game: 2018 reward: -124.0264222736584 average score for the last 100 games: 38.35274807225503 partial success avg 0.81 dist 0.36 time: 0.265236 seconds success eps: 0.2731527160006202 game: 2019 reward: 137.74849732967954 average score for the last 100 games: 37.92541505962001 partial success avg 0.81 dist 0.36 time: 0.047451 seconds success eps: 0.27287956328461954 game: 2020 reward: 159.54531355401008 average score for the last 100 games: 37.806710834604175 partial success avg 0.81 dist 0.36 time: 0.072147 seconds success eps: 0.2726066837213349 game: 2021 reward: 154.22767192212126 average score for the last 100 games: 37.5784330458344 partial success avg 0.81 dist 0.36 time: 0.067984 seconds success eps: 0.2723340770376136 game: 2022 reward: 130.64602826555085 average score for the last 100 games: 37.2890937313147 partial success avg 0.81 dist 0.36 time: 0.067986 seconds success eps: 0.27206174296057595 game: 2023 reward: 197.7596815511656 average score for the last 100 games: 37.93041759796345 partial success avg 0.81 dist 0.36 time: 0.007455 seconds success eps: 0.2717896812176154 game: 2024 reward: 173.28765249045586 average score for the last 100 games: 37.71725456783046 partial success avg 0.81 dist 0.36 time: 0.049327 seconds eps: 0.27151789153639777 game: 2025 reward: -302.464075704255 average score for the last 100 games: 33.05180501928152 partial success avg 0.80 dist 0.36 time: 0.443096 seconds success eps: 0.27124637364486137 game: 2026 reward: 165.66014225788996 average score for the last 100 games: 33.499485427279836 partial success avg 0.80 dist 0.36 time: 0.06009 seconds success eps: 0.27097512727121653 game: 2027 reward: 115.1606597142538 average score for the last 100 games: 32.96496024331127 partial success avg 0.80 dist 0.36 time: 0.074386 seconds success eps: 0.27070415214394533 game: 2028 reward: 176.78656814908098 average score for the last 100 games: 36.979637313054646 partial success avg 0.81 dist 0.36 time: 0.040616 seconds eps: 0.2704334479918014 game: 2029 reward: -505.09080760550563 average score for the last 100 games: 30.397469241411123 partial success avg 0.80 dist 0.36 time: 0.422919 seconds success eps: 0.2701630145438096 game: 2030 reward: 159.68481043488782 average score for the last 100 games: 31.73075503280594 partial success avg 0.80 dist 0.36 time: 0.05285 seconds success eps: 0.2698928515292658 game: 2031 reward: -32.34481951005961 average score for the last 100 games: 29.93673914994424 partial success avg 0.80 dist 0.36 time: 0.242182 seconds success eps: 0.2696229586777365 game: 2032 reward: 53.07292789618859 average score for the last 100 games: 29.66338671126104 partial success avg 0.80 dist 0.36 time: 0.08114 seconds success eps: 0.2693533357190588 game: 2033 reward: 163.23325853607852 average score for the last 100 games: 30.72163145988091 partial success avg 0.80 dist 0.36 time: 0.058929 seconds success eps: 0.26908398238333975 game: 2034 reward: 161.86628171302246 average score for the last 100 games: 34.750821780894256 partial success avg 0.81 dist 0.36 time: 0.065344 seconds success eps: 0.2688148984009564 game: 2035 reward: 168.33598649461575 average score for the last 100 games: 39.54179718977973 partial success avg 0.82 dist 0.36 time: 0.046906 seconds success eps: 0.26854608350255543 game: 2036 reward: 169.57722255569433 average score for the last 100 games: 45.92410821042242 partial success avg 0.83 dist 0.36 time: 0.053007 seconds eps: 0.26827753741905286 game: 2037 reward: -240.53433641740602 average score for the last 100 games: 41.96667204238555 partial success avg 0.82 dist 0.36 time: 0.422718 seconds success eps: 0.2680092598816338 game: 2038 reward: 153.30826277539933 average score for the last 100 games: 41.93948390438612 partial success avg 0.82 dist 0.36 time: 0.065512 seconds eps: 0.2677412506217522 game: 2039 reward: -256.63205297616724 average score for the last 100 games: 38.787855001715464 partial success avg 0.81 dist 0.36 time: 0.419448 seconds success eps: 0.26747350937113046 game: 2040 reward: 197.51857546940775 average score for the last 100 games: 39.99945554274315 partial success avg 0.81 dist 0.36 time: 0.011763 seconds success eps: 0.26720603586175934 game: 2041 reward: 100.28512685860944 average score for the last 100 games: 39.70415287980098 partial success avg 0.81 dist 0.36 time: 0.06644 seconds success eps: 0.26693882982589756 game: 2042 reward: 155.04578301644432 average score for the last 100 games: 44.00566062698476 partial success avg 0.82 dist 0.36 time: 0.077342 seconds success eps: 0.26667189099607164 game: 2043 reward: 66.24983827652409 average score for the last 100 games: 43.34178493440473 partial success avg 0.82 dist 0.36 time: 0.074316 seconds eps: 0.2664052191050756 game: 2044 reward: -327.8931977984585 average score for the last 100 games: 38.353890228212556 partial success avg 0.81 dist 0.36 time: 0.445655 seconds success eps: 0.2661388138859705 game: 2045 reward: 150.65915157703634 average score for the last 100 games: 39.73796654233714 partial success avg 0.81 dist 0.36 time: 0.052683 seconds success eps: 0.2658726750720845 game: 2046 reward: 158.98453810624008 average score for the last 100 games: 39.42383768096437 partial success avg 0.81 dist 0.36 time: 0.052625 seconds success eps: 0.2656068023970124 game: 2047 reward: 129.96508411217707 average score for the last 100 games: 42.76870908720531 partial success avg 0.82 dist 0.36 time: 0.059509 seconds success eps: 0.2653411955946154 game: 2048 reward: 143.7667233200357 average score for the last 100 games: 42.278852517306184 partial success avg 0.82 dist 0.36 time: 0.073384 seconds success eps: 0.26507585439902076 game: 2049 reward: 156.51567674520578 average score for the last 100 games: 42.111809847030315 partial success avg 0.82 dist 0.36 time: 0.045903 seconds success eps: 0.26481077854462176 game: 2050 reward: 126.80726719963535 average score for the last 100 games: 42.51848926532781 partial success avg 0.82 dist 0.36 time: 0.072703 seconds success eps: 0.26454596776607714 game: 2051 reward: 111.08259406694575 average score for the last 100 games: 42.04336338528779 partial success avg 0.82 dist 0.36 time: 0.077806 seconds success eps: 0.26428142179831104 game: 2052 reward: 152.92763408729246 average score for the last 100 games: 43.017269483327965 partial success avg 0.82 dist 0.36 time: 0.054129 seconds success eps: 0.26401714037651275 game: 2053 reward: 152.56815537102784 average score for the last 100 games: 43.040572132393116 partial success avg 0.82 dist 0.36 time: 0.082704 seconds eps: 0.26375312323613626 game: 2054 reward: -349.958943691812 average score for the last 100 games: 37.96771475157574 partial success avg 0.81 dist 0.36 time: 0.384028 seconds eps: 0.26348937011290013 game: 2055 reward: -219.4461898591177 average score for the last 100 games: 38.29326727116919 partial success avg 0.81 dist 0.36 time: 0.430363 seconds eps: 0.26322588074278724 game: 2056 reward: -228.81449237862694 average score for the last 100 games: 35.09280917648489 partial success avg 0.80 dist 0.36 time: 0.44681 seconds success eps: 0.26296265486204445 game: 2057 reward: 94.15734308010143 average score for the last 100 games: 37.19167240595496 partial success avg 0.80 dist 0.36 time: 0.067477 seconds success eps: 0.2626996922071824 game: 2058 reward: 197.35805131294413 average score for the last 100 games: 37.568111434983884 partial success avg 0.80 dist 0.36 time: 0.010308 seconds success eps: 0.26243699251497526 game: 2059 reward: 95.2115730956548 average score for the last 100 games: 38.724187090634175 partial success avg 0.80 dist 0.36 time: 0.148044 seconds success eps: 0.2621745555224603 game: 2060 reward: 144.3973464964312 average score for the last 100 games: 49.97555800972928 partial success avg 0.81 dist 0.36 time: 0.113662 seconds eps: 0.2619123809669378 game: 2061 reward: -293.2865842777451 average score for the last 100 games: 46.576667483718445 partial success avg 0.80 dist 0.36 time: 0.423188 seconds success eps: 0.26165046858597085 game: 2062 reward: 118.2966728091734 average score for the last 100 games: 45.78777536269759 partial success avg 0.80 dist 0.36 time: 0.060264 seconds success eps: 0.2613888181173849 game: 2063 reward: 81.1294776678403 average score for the last 100 games: 45.14571839673211 partial success avg 0.80 dist 0.36 time: 0.15669 seconds success eps: 0.2611274292992675 game: 2064 reward: 161.9702905581559 average score for the last 100 games: 44.94842450946936 partial success avg 0.80 dist 0.36 time: 0.066664 seconds success eps: 0.26086630186996823 game: 2065 reward: 149.42505538154828 average score for the last 100 games: 45.57008712289125 partial success avg 0.80 dist 0.36 time: 0.059216 seconds success eps: 0.2606054355680983 game: 2066 reward: -133.27067339106802 average score for the last 100 games: 46.39319526711912 partial success avg 0.81 dist 0.36 time: 0.335961 seconds success eps: 0.2603448301325302 game: 2067 reward: 161.28577805464195 average score for the last 100 games: 50.20774006726544 partial success avg 0.82 dist 0.36 time: 0.040783 seconds eps: 0.26008448530239764 game: 2068 reward: -353.77928039912695 average score for the last 100 games: 45.028143862457874 partial success avg 0.81 dist 0.36 time: 0.457299 seconds eps: 0.25982440081709524 game: 2069 reward: -435.005944113097 average score for the last 100 games: 39.535370796180594 partial success avg 0.80 dist 0.36 time: 0.475578 seconds success eps: 0.2595645764162781 game: 2070 reward: 182.6211642893208 average score for the last 100 games: 39.60022974747626 partial success avg 0.80 dist 0.36 time: 0.026462 seconds eps: 0.2593050118398618 game: 2071 reward: -222.86319564985195 average score for the last 100 games: 36.112251330189025 partial success avg 0.79 dist 0.36 time: 0.416182 seconds success eps: 0.25904570682802197 game: 2072 reward: 191.46290894273267 average score for the last 100 games: 36.19963043124578 partial success avg 0.79 dist 0.36 time: 0.022853 seconds success eps: 0.258786661121194 game: 2073 reward: 178.50117566665423 average score for the last 100 games: 40.512857082167365 partial success avg 0.80 dist 0.36 time: 0.041514 seconds success eps: 0.2585278744600728 game: 2074 reward: 178.1098705373337 average score for the last 100 games: 41.50308692561216 partial success avg 0.80 dist 0.36 time: 0.0271 seconds eps: 0.25826934658561274 game: 2075 reward: -205.9546657574429 average score for the last 100 games: 42.89851078084344 partial success avg 0.80 dist 0.36 time: 0.464396 seconds eps: 0.2580110772390271 game: 2076 reward: -239.19220371922782 average score for the last 100 games: 39.080003907168376 partial success avg 0.79 dist 0.36 time: 0.427201 seconds success eps: 0.25775306616178806 game: 2077 reward: 69.20569157842704 average score for the last 100 games: 38.078551799197015 partial success avg 0.79 dist 0.36 time: 0.28148 seconds success eps: 0.2574953130956263 game: 2078 reward: 95.77393624559022 average score for the last 100 games: 37.22991199997744 partial success avg 0.79 dist 0.36 time: 0.065183 seconds success eps: 0.2572378177825307 game: 2079 reward: 157.00568500461299 average score for the last 100 games: 43.51634349313187 partial success avg 0.80 dist 0.36 time: 0.083714 seconds success eps: 0.25698057996474816 game: 2080 reward: 159.12746540649204 average score for the last 100 games: 43.373813005653446 partial success avg 0.80 dist 0.36 time: 0.042863 seconds success eps: 0.2567235993847834 game: 2081 reward: 159.6613972956635 average score for the last 100 games: 45.462560856217436 partial success avg 0.80 dist 0.36 time: 0.051671 seconds success eps: 0.2564668757853986 game: 2082 reward: 135.1993154738352 average score for the last 100 games: 45.75055281634945 partial success avg 0.80 dist 0.36 time: 0.088308 seconds success eps: 0.2562104089096132 game: 2083 reward: 133.02760920619446 average score for the last 100 games: 50.650220070995076 partial success avg 0.81 dist 0.36 time: 0.053113 seconds success eps: 0.2559541985007036 game: 2084 reward: 173.9044041397117 average score for the last 100 games: 50.94068861242873 partial success avg 0.81 dist 0.36 time: 0.047098 seconds success eps: 0.2556982443022029 game: 2085 reward: 190.20140499291008 average score for the last 100 games: 51.0654906310233 partial success avg 0.81 dist 0.36 time: 0.021216 seconds success eps: 0.2554425460579007 game: 2086 reward: 177.72378302871246 average score for the last 100 games: 51.428909451651535 partial success avg 0.81 dist 0.36 time: 0.0292 seconds success eps: 0.25518710351184276 game: 2087 reward: 193.8738158171282 average score for the last 100 games: 51.805660789045085 partial success avg 0.81 dist 0.36 time: 0.014062 seconds eps: 0.2549319164083309 game: 2088 reward: -244.6156901481694 average score for the last 100 games: 48.8029328462161 partial success avg 0.80 dist 0.36 time: 0.487936 seconds eps: 0.25467698449192255 game: 2089 reward: -275.7340618233701 average score for the last 100 games: 44.115346842907385 partial success avg 0.79 dist 0.36 time: 0.430484 seconds eps: 0.2544223075074306 game: 2090 reward: -332.1219780637431 average score for the last 100 games: 38.86133693410274 partial success avg 0.78 dist 0.36 time: 0.432085 seconds success eps: 0.25416788519992317 game: 2091 reward: 106.75345963254954 average score for the last 100 games: 38.12297397477518 partial success avg 0.78 dist 0.36 time: 0.084513 seconds success eps: 0.25391371731472323 game: 2092 reward: 172.27803063509637 average score for the last 100 games: 38.586478908448605 partial success avg 0.78 dist 0.36 time: 0.035619 seconds success eps: 0.25365980359740853 game: 2093 reward: 187.07907589803415 average score for the last 100 games: 44.41261050080346 partial success avg 0.79 dist 0.36 time: 0.032828 seconds success eps: 0.2534061437938111 game: 2094 reward: 132.299864155581 average score for the last 100 games: 43.79412117771875 partial success avg 0.79 dist 0.36 time: 0.065079 seconds success eps: 0.2531527376500173 game: 2095 reward: 131.85637285264596 average score for the last 100 games: 43.49805591068486 partial success avg 0.79 dist 0.36 time: 0.05247 seconds success eps: 0.25289958491236725 game: 2096 reward: 164.554236980834 average score for the last 100 games: 43.17053550268852 partial success avg 0.79 dist 0.36 time: 0.041118 seconds success eps: 0.2526466853274549 game: 2097 reward: 180.4385474285945 average score for the last 100 games: 43.467454321085846 partial success avg 0.79 dist 0.36 time: 0.044011 seconds success eps: 0.25239403864212745 game: 2098 reward: 35.407854779472444 average score for the last 100 games: 43.45727319980274 partial success avg 0.79 dist 0.36 time: 0.284102 seconds success eps: 0.2521416446034853 game: 2099 reward: 131.4198446820438 average score for the last 100 games: 43.62110843570472 partial success avg 0.79 dist 0.36 time: 0.054835 seconds success eps: 0.25188950295888185 game: 2100 reward: 176.39000172875723 average score for the last 100 games: 44.418468913871386 partial success avg 0.79 dist 0.36 time: 0.042768 seconds success eps: 0.25163761345592295 game: 2101 reward: 135.70036579820726 average score for the last 100 games: 44.02776515745214 partial success avg 0.79 dist 0.36 time: 0.05499 seconds success eps: 0.251385975842467 game: 2102 reward: 90.8440984585592 average score for the last 100 games: 43.39468764164534 partial success avg 0.79 dist 0.36 time: 0.066429 seconds success eps: 0.25113458986662457 game: 2103 reward: 92.86320650571284 average score for the last 100 games: 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reward: 142.62749681728283 average score for the last 100 games: 49.198159423523805 partial success avg 0.70 dist 0.08 time: 0.083287 seconds success eps: 0.016858351799416926 game: 19928 reward: 180.2958229883772 average score for the last 100 games: 49.44168430180799 partial success avg 0.70 dist 0.08 time: 0.039587 seconds success eps: 0.016841493447617508 game: 19929 reward: 170.39608072266202 average score for the last 100 games: 52.60103835238713 partial success avg 0.71 dist 0.08 time: 0.062141 seconds success eps: 0.016824651954169892 game: 19930 reward: 132.61476744037515 average score for the last 100 games: 55.21041835780216 partial success avg 0.72 dist 0.08 time: 0.263078 seconds success eps: 0.016807827302215722 game: 19931 reward: 142.23182463523946 average score for the last 100 games: 55.41339499203244 partial success avg 0.72 dist 0.08 time: 0.110535 seconds success eps: 0.016791019474913505 game: 19932 reward: 132.14506596081733 average score for the last 100 games: 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seconds eps: 0.016690524887787526 game: 19938 reward: -131.31512833312456 average score for the last 100 games: 50.100321939470525 partial success avg 0.71 dist 0.08 time: 0.533218 seconds eps: 0.016673834362899737 game: 19939 reward: -177.70692000957408 average score for the last 100 games: 50.150604563056895 partial success avg 0.71 dist 0.08 time: 0.444527 seconds success eps: 0.016657160528536837 game: 19940 reward: 165.98537179875018 average score for the last 100 games: 49.96950545986826 partial success avg 0.71 dist 0.08 time: 0.064645 seconds success eps: 0.0166405033680083 game: 19941 reward: 155.2975614611007 average score for the last 100 games: 50.35213328682542 partial success avg 0.71 dist 0.08 time: 0.06845 seconds success eps: 0.01662386286464029 game: 19942 reward: 145.28045577883017 average score for the last 100 games: 49.90486869557429 partial success avg 0.71 dist 0.08 time: 0.12953 seconds success eps: 0.01660723900177565 game: 19943 reward: 146.88916777318636 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eps: 0.043567915930952425 game: 29949 reward: 171.98057329026275 average score for the last 100 games: 46.41788829122821 partial success avg 0.71 dist 0.05 time: 0.039718 seconds success eps: 0.043524348015021475 game: 29950 reward: 129.75120175614546 average score for the last 100 games: 49.206138995926295 partial success avg 0.72 dist 0.05 time: 0.087692 seconds success eps: 0.04348082366700645 game: 29951 reward: 143.98591304417448 average score for the last 100 games: 49.001255726681386 partial success avg 0.72 dist 0.05 time: 0.169391 seconds success eps: 0.043437342843339444 game: 29952 reward: 130.44121042093477 average score for the last 100 games: 48.66820140538148 partial success avg 0.72 dist 0.05 time: 0.14273 seconds success eps: 0.043393905500496106 game: 29953 reward: 130.4666366345648 average score for the last 100 games: 48.10350900226309 partial success avg 0.72 dist 0.05 time: 0.266474 seconds success eps: 0.04335051159499561 game: 29954 reward: 84.94440360678557 average score for the last 100 games: 48.52822284122136 partial success avg 0.72 dist 0.05 time: 0.307778 seconds eps: 0.04330716108340062 game: 29955 reward: -141.12082695753256 average score for the last 100 games: 46.56814716621673 partial success avg 0.71 dist 0.05 time: 0.383943 seconds success eps: 0.043263853922317214 game: 29956 reward: 150.95607898422503 average score for the last 100 games: 46.79810459907805 partial success avg 0.71 dist 0.05 time: 0.047561 seconds success eps: 0.0432205900683949 game: 29957 reward: 39.50141095967376 average score for the last 100 games: 48.42826210344954 partial success avg 0.72 dist 0.05 time: 0.187575 seconds success eps: 0.043177369478326504 game: 29958 reward: 166.19087420342538 average score for the last 100 games: 49.21902759452347 partial success avg 0.72 dist 0.05 time: 0.046581 seconds success eps: 0.043134192108848175 game: 29959 reward: 150.573387101915 average score for the last 100 games: 49.296771884759565 partial success avg 0.72 dist 0.05 time: 0.070839 seconds success eps: 0.043091057916739325 game: 29960 reward: 87.64477005677584 average score for the last 100 games: 48.330818090938074 partial success avg 0.72 dist 0.05 time: 0.184221 seconds success eps: 0.04304796685882259 game: 29961 reward: 175.21612402897705 average score for the last 100 games: 51.449118873370516 partial success avg 0.73 dist 0.05 time: 0.061589 seconds success eps: 0.04300491889196377 game: 29962 reward: 84.81524716265439 average score for the last 100 games: 50.90874207866069 partial success avg 0.73 dist 0.05 time: 0.554564 seconds eps: 0.04296191397307181 game: 29963 reward: -172.13927253680595 average score for the last 100 games: 47.32513951718252 partial success avg 0.72 dist 0.05 time: 0.383165 seconds success eps: 0.042918952059098736 game: 29964 reward: 124.94488559327769 average score for the last 100 games: 50.05393549250389 partial success avg 0.73 dist 0.05 time: 0.164568 seconds success eps: 0.042876033107039635 game: 29965 reward: 155.57867507297817 average score for the last 100 games: 53.229440031604966 partial success avg 0.74 dist 0.05 time: 0.065 seconds success eps: 0.04283315707393259 game: 29966 reward: 128.01129504196348 average score for the last 100 games: 53.60170638701506 partial success avg 0.74 dist 0.05 time: 0.084102 seconds success eps: 0.042790323916858664 game: 29967 reward: 100.5324332719623 average score for the last 100 games: 53.410162620174845 partial success avg 0.74 dist 0.05 time: 0.194769 seconds success eps: 0.042747533592941804 game: 29968 reward: 163.6338547772824 average score for the last 100 games: 57.04335603774322 partial success avg 0.75 dist 0.05 time: 0.066621 seconds success eps: 0.04270478605934886 game: 29969 reward: 50.87868860183937 average score for the last 100 games: 58.98243016865842 partial success avg 0.76 dist 0.05 time: 0.353216 seconds success eps: 0.042662081273289514 game: 29970 reward: 132.61974952278112 average score for the last 100 games: 58.415698265868244 partial success avg 0.76 dist 0.05 time: 0.077795 seconds success eps: 0.04261941919201622 game: 29971 reward: 106.34793331604037 average score for the last 100 games: 57.72986897551914 partial success avg 0.76 dist 0.05 time: 0.136203 seconds success eps: 0.042576799772824206 game: 29972 reward: 156.00850712943102 average score for the last 100 games: 58.36719865363275 partial success avg 0.76 dist 0.05 time: 0.061318 seconds success eps: 0.04253422297305138 game: 29973 reward: 165.28708106210337 average score for the last 100 games: 59.00352411590806 partial success avg 0.76 dist 0.05 time: 0.119104 seconds eps: 0.042491688750078326 game: 29974 reward: -190.45080111804344 average score for the last 100 games: 58.28903268041443 partial success avg 0.76 dist 0.05 time: 0.391222 seconds success eps: 0.04244919706132825 game: 29975 reward: 104.50631497532663 average score for the last 100 games: 60.57331558756186 partial success avg 0.77 dist 0.05 time: 0.273619 seconds success eps: 0.042406747864266923 game: 29976 reward: 63.659385686616446 average score for the last 100 games: 60.72311749909244 partial success avg 0.77 dist 0.05 time: 0.088697 seconds success eps: 0.04236434111640266 game: 29977 reward: 140.16791129211478 average score for the last 100 games: 63.47020370050817 partial success avg 0.78 dist 0.05 time: 0.145728 seconds success eps: 0.042321976775286256 game: 29978 reward: 172.05249227733415 average score for the last 100 games: 63.69539816264135 partial success avg 0.78 dist 0.05 time: 0.047571 seconds eps: 0.04227965479851097 game: 29979 reward: -204.1618719206442 average score for the last 100 games: 60.1215709724992 partial success avg 0.77 dist 0.05 time: 0.382125 seconds eps: 0.04223737514371246 game: 29980 reward: -139.43982450993465 average score for the last 100 games: 57.441934203334306 partial success avg 0.76 dist 0.05 time: 0.406825 seconds success eps: 0.042195137768568744 game: 29981 reward: 108.45843990160641 average score for the last 100 games: 56.91831351177478 partial success avg 0.76 dist 0.05 time: 0.278154 seconds success eps: 0.042152942630800175 game: 29982 reward: 84.6317795369146 average score for the last 100 games: 59.03126368920705 partial success avg 0.77 dist 0.05 time: 0.170965 seconds eps: 0.04211078968816937 game: 29983 reward: -141.2019215145861 average score for the last 100 games: 56.13319205570864 partial success avg 0.76 dist 0.05 time: 0.408108 seconds success eps: 0.042068678898481204 game: 29984 reward: 119.47512670983234 average score for the last 100 games: 55.55984908322909 partial success avg 0.76 dist 0.05 time: 0.20941 seconds success eps: 0.042026610219582726 game: 29985 reward: 91.11787726165011 average score for the last 100 games: 54.89542729609089 partial success avg 0.76 dist 0.05 time: 0.134228 seconds success eps: 0.04198458360936314 game: 29986 reward: 55.00287127313007 average score for the last 100 games: 56.93963628058723 partial success avg 0.77 dist 0.05 time: 0.236806 seconds success eps: 0.04194259902575378 game: 29987 reward: 167.20462584000683 average score for the last 100 games: 60.101755947754306 partial success avg 0.78 dist 0.05 time: 0.063851 seconds eps: 0.04190065642672802 game: 29988 reward: -204.431461547187 average score for the last 100 games: 57.69256834347843 partial success avg 0.77 dist 0.05 time: 0.383587 seconds eps: 0.04185875577030129 game: 29989 reward: -183.45904456472064 average score for the last 100 games: 54.588185455659556 partial success avg 0.76 dist 0.05 time: 0.373572 seconds eps: 0.04181689701453099 game: 29990 reward: -175.30608927395068 average score for the last 100 games: 54.70565156102984 partial success avg 0.76 dist 0.05 time: 0.403086 seconds eps: 0.04177508011751646 game: 29991 reward: -163.00837477937995 average score for the last 100 games: 51.318422390693016 partial success avg 0.75 dist 0.05 time: 0.546688 seconds success eps: 0.04173330503739894 game: 29992 reward: 53.3886567172965 average score for the last 100 games: 53.92821922585091 partial success avg 0.76 dist 0.05 time: 0.208294 seconds success eps: 0.04169157173236154 game: 29993 reward: 115.9512219037851 average score for the last 100 games: 53.39911151226343 partial success avg 0.76 dist 0.05 time: 0.116461 seconds success eps: 0.041649880160629184 game: 29994 reward: 150.33105738771997 average score for the last 100 games: 53.37191412403858 partial success avg 0.76 dist 0.05 time: 0.07294 seconds eps: 0.041608230280468554 game: 29995 reward: -155.50424494383603 average score for the last 100 games: 53.104279402449194 partial success avg 0.76 dist 0.05 time: 0.540935 seconds success eps: 0.04156662205018809 game: 29996 reward: 148.3616548956553 average score for the last 100 games: 52.99866623189123 partial success avg 0.76 dist 0.05 time: 0.086606 seconds success eps: 0.0415250554281379 game: 29997 reward: 173.1005241230252 average score for the last 100 games: 56.911747391092185 partial success avg 0.77 dist 0.05 time: 0.059807 seconds eps: 0.04148353037270976 game: 29998 reward: -123.68102163398343 average score for the last 100 games: 57.91683167091957 partial success avg 0.77 dist 0.05 time: 0.396502 seconds eps: 0.04144204684233705 game: 29999 reward: -215.65862063913823 average score for the last 100 games: 54.67858251085376 partial success avg 0.76 dist 0.05 time: 0.384069 seconds success
eps: 0.04140060479549471 game: 30000 reward: 169.3766054071151 average score for the last 100 games: 54.77241898493048 partial success avg 0.76 dist 0.05 time: 0.608837 seconds Total time: 12149.728502 seconds
In [6]:
print(max_game)
29239
In [22]:
def plot_learning_curve(x, scores, figure_file):
running_avg_score = np.zeros(len(scores))
for i in range(len(running_avg_score)):
running_avg_score[i] = np.mean(scores[max(0, i-100):(i+1)])
plt.plot(x, running_avg_score, '-b')
plt.ylim(-300,200)
plt.xticks(fontsize='15')
plt.yticks(fontsize='15')
plt.xlabel('Episódios',fontsize='18')
plt.ylabel('Pontuação',fontsize='18')
plt.axvline(x=next_level_points[-1], color='red')
plt.axvline(0,color='red',linestyle='--')
plt.text(-300,-200,'d = 0.45 m',rotation=-90,color='red',weight='bold',size='12')
d = 0.45
for p in next_level_points[:]:
d = d*0.8
plt.text(p+50,-200,'%.2f m'%d,rotation=-90,color='red',weight='bold',size='12')
plt.axvline(x=p, color='red', linestyle='--')
plt.title('Média móvel das últimas 100 pontuações',size='20',weight='bold')
plt.savefig(figure_file)
def plot_success_curve(x, successes, figure_file):
running_success_rate = np.zeros(len(successes))
for i in range(len(running_success_rate)):
running_success_rate[i] = np.mean(successes[max(0, i-50):(i+1)])
plt.plot(x, running_success_rate, '-g')
plt.xticks(fontsize='15')
plt.yticks(fontsize='15')
plt.xlabel('Episódios',fontsize='18')
plt.ylabel('Taxa de sucesso',fontsize='18')
plt.axvline(x=next_level_points[-1], color='red')
plt.axvline(0,color='red',linestyle='--')
plt.text(80,0.22,'d = 0.45 m',rotation=-90,color='red',weight='bold',size='12')
d = 0.45
for p in next_level_points[:]:
d = d*0.8
plt.text(p+50,0.22,'%.2f m'%d,rotation=-90,color='red',weight='bold',size='12')
plt.axvline(x=p, color='red', linestyle='--')
plt.title('Taxa de sucesso dos últimos 50 episódios',size='20',weight='bold')
plt.savefig(figure_file)
def plot_step_curve(x, steps, figure_file):
running_step_avg = np.zeros(len(steps))
for i in range(len(running_step_avg)):
running_step_avg[i] = np.mean(steps[max(0, i-200):(i+1)])
plt.plot(x, running_step_avg, '-g')
plt.xticks(fontsize='15')
plt.yticks(fontsize='15')
plt.xlabel('Episódios',fontsize='18')
plt.ylabel('Tempo até atingir o alvo (s)',fontsize='18')
plt.axvline(x=next_level_points[-1], color='red')
plt.axvline(0,color='red',linestyle='--')
plt.text(65,0.7,'d = 0.45 m',rotation=-90,color='red',weight='bold',size='12')
d = 0.45
for p in next_level_points[:]:
d = d*0.8
plt.text(p+50,0.7,'%.2f m'%d,rotation=-90,color='red',weight='bold',size='12')
plt.axvline(x=p, color='red', linestyle='--')
plt.title('Média móvel da duração dos últimos 200 episódios',size='20',weight='bold')
plt.savefig(figure_file)
x = [i+1 for i in range(30001)]
%matplotlib inline
plt.figure('learning',figsize=(15,6))
plot_learning_curve(x, score_history, figure_file_score)
plt.figure('catching',figsize=(15,6))
plot_success_curve(x, success_history, figure_file_catchrate)
plt.figure('steps',figsize=(15,6))
plot_step_curve(x, step_history, figure_file_steps)
In [24]:
save_model(agent.main_model, MODEL_FILE)
store_actions(game_actions, MODEL_FILE+'_actions')
In [10]:
plt.ion()
env = MujocoEnv2_1()
state_dim = env.state_dim
action_dim = env.action_dim
agent = Agent(state_dim, action_dim)
agent.main_model = load_model(agent.main_model, MODEL_FILE)
agent.target_model = load_model(agent.main_model, MODEL_FILE)
actions = load_actions(MODEL_FILE+'_actions')
agent.eps = agent.eps_min
success_games = []
fixedGames = []
for i in np.arange(1, 1.6, 0.1):
for j in np.arange(0, 2*np.pi, np.pi/18):
list = [i, j]
fixedGames.append(list)
for game in range(len(fixedGames)):
env.variaPos(float(fixedGames[game][0]),float(fixedGames[game][1]))
done = False
score = 0
success = 0
observation = env.resetFixo()
game_actions = [] # actions taken during this game
while not done:
action = agent.choose_action(observation)
next_observation, reward, done = env.rstep(action)
action = torch.tensor(action).long()
#agent.step(observation, action, reward, next_observation, done)
score += float(reward)
observation = next_observation
#if game % TARGET_UPDATE == 0: agent.soft_update_target_model(TAU)
if reward > 0:
success = 1
media.show_video(env.frames, fps=env.framerate)
print('Jogo:', game, ' \ Raio:', env.radius, ' \ Ângulo:', env.angle*180/np.pi)
print('Recompensa:', str(score))
print('-------------------------------------------------')
if success: success_games.append((env.radius,env.angle))
Jogo: 0 \ Raio: 1.0 \ Ângulo: 0.0 Recompensa: -147.13637069904453 -------------------------------------------------
Jogo: 1 \ Raio: 1.0 \ Ângulo: 10.0 Recompensa: -141.32302374253595 ------------------------------------------------- success
Jogo: 2 \ Raio: 1.0 \ Ângulo: 20.0 Recompensa: 139.37735019317978 ------------------------------------------------- success
Jogo: 3 \ Raio: 1.0 \ Ângulo: 29.999999999999996 Recompensa: 164.96560926542543 ------------------------------------------------- success
Jogo: 4 \ Raio: 1.0 \ Ângulo: 40.0 Recompensa: 127.2321100917273 ------------------------------------------------- success
Jogo: 5 \ Raio: 1.0 \ Ângulo: 50.0 Recompensa: 150.88372150028584 ------------------------------------------------- success
Jogo: 6 \ Raio: 1.0 \ Ângulo: 59.99999999999999 Recompensa: 154.56398552213716 ------------------------------------------------- success
Jogo: 7 \ Raio: 1.0 \ Ângulo: 70.0 Recompensa: 157.0456409611469 ------------------------------------------------- success
Jogo: 8 \ Raio: 1.0 \ Ângulo: 80.0 Recompensa: 151.023803766992 ------------------------------------------------- success
Jogo: 9 \ Raio: 1.0 \ Ângulo: 90.0 Recompensa: 153.09903874660463 ------------------------------------------------- success
Jogo: 10 \ Raio: 1.0 \ Ângulo: 100.0 Recompensa: 154.87073853047946 ------------------------------------------------- success
Jogo: 11 \ Raio: 1.0 \ Ângulo: 110.0 Recompensa: 125.08879726476957 ------------------------------------------------- success
Jogo: 12 \ Raio: 1.0 \ Ângulo: 119.99999999999999 Recompensa: 135.53549605792026 ------------------------------------------------- success
Jogo: 13 \ Raio: 1.0 \ Ângulo: 130.0 Recompensa: 125.25839013191734 ------------------------------------------------- success
Jogo: 14 \ Raio: 1.0 \ Ângulo: 140.0 Recompensa: 141.6862545177353 ------------------------------------------------- success
Jogo: 15 \ Raio: 1.0 \ Ângulo: 150.00000000000003 Recompensa: 131.7549362198212 ------------------------------------------------- success
Jogo: 16 \ Raio: 1.0 \ Ângulo: 160.0 Recompensa: 121.53433709762685 ------------------------------------------------- success
Jogo: 17 \ Raio: 1.0 \ Ângulo: 170.0 Recompensa: 120.23336611740396 ------------------------------------------------- success
Jogo: 18 \ Raio: 1.0 \ Ângulo: 180.0 Recompensa: 106.99558612662936 -------------------------------------------------
Jogo: 19 \ Raio: 1.0 \ Ângulo: 190.0 Recompensa: -189.1097456900391 -------------------------------------------------
Jogo: 20 \ Raio: 1.0 \ Ângulo: 200.0 Recompensa: -177.97717748063175 -------------------------------------------------
Jogo: 21 \ Raio: 1.0 \ Ângulo: 209.99999999999997 Recompensa: -170.3769825624412 -------------------------------------------------
Jogo: 22 \ Raio: 1.0 \ Ângulo: 220.0 Recompensa: -165.52152989402785 ------------------------------------------------- success
Jogo: 23 \ Raio: 1.0 \ Ângulo: 229.99999999999997 Recompensa: 64.91444962386348 -------------------------------------------------
Jogo: 24 \ Raio: 1.0 \ Ângulo: 239.99999999999997 Recompensa: -148.96451741447697 ------------------------------------------------- success
Jogo: 25 \ Raio: 1.0 \ Ângulo: 249.99999999999997 Recompensa: 148.39758513036406 -------------------------------------------------
Jogo: 26 \ Raio: 1.0 \ Ângulo: 260.0 Recompensa: -137.69389939071942 ------------------------------------------------- success
Jogo: 27 \ Raio: 1.0 \ Ângulo: 270.0 Recompensa: 163.03776087304826 ------------------------------------------------- success
Jogo: 28 \ Raio: 1.0 \ Ângulo: 280.0 Recompensa: 156.14013590254407 -------------------------------------------------
Jogo: 29 \ Raio: 1.0 \ Ângulo: 290.0 Recompensa: -131.97192646411864 ------------------------------------------------- success
Jogo: 30 \ Raio: 1.0 \ Ângulo: 300.00000000000006 Recompensa: 170.1000840802065 ------------------------------------------------- success
Jogo: 31 \ Raio: 1.0 \ Ângulo: 310.0 Recompensa: 164.28773285744845 ------------------------------------------------- success
Jogo: 32 \ Raio: 1.0 \ Ângulo: 320.0 Recompensa: 164.7714084794953 -------------------------------------------------
Jogo: 33 \ Raio: 1.0 \ Ângulo: 329.99999999999994 Recompensa: -125.95732777844403 ------------------------------------------------- success
Jogo: 34 \ Raio: 1.0 \ Ângulo: 340.0 Recompensa: 114.15613034001929 -------------------------------------------------
Jogo: 35 \ Raio: 1.0 \ Ângulo: 350.00000000000006 Recompensa: -137.25120598669102 ------------------------------------------------- success
Jogo: 36 \ Raio: 1.1 \ Ângulo: 0.0 Recompensa: 173.37714520027714 -------------------------------------------------
Jogo: 37 \ Raio: 1.1 \ Ângulo: 10.0 Recompensa: -132.00882440419844 ------------------------------------------------- success
Jogo: 38 \ Raio: 1.1 \ Ângulo: 20.0 Recompensa: 157.9244169462422 ------------------------------------------------- success
Jogo: 39 \ Raio: 1.1 \ Ângulo: 29.999999999999996 Recompensa: 168.9087369412515 ------------------------------------------------- success
Jogo: 40 \ Raio: 1.1 \ Ângulo: 40.0 Recompensa: 155.40955337556034 ------------------------------------------------- success
Jogo: 41 \ Raio: 1.1 \ Ângulo: 50.0 Recompensa: 130.04629470867218 ------------------------------------------------- success
Jogo: 42 \ Raio: 1.1 \ Ângulo: 59.99999999999999 Recompensa: 155.36017650711014 ------------------------------------------------- success
Jogo: 43 \ Raio: 1.1 \ Ângulo: 70.0 Recompensa: 149.30996427238884 ------------------------------------------------- success
Jogo: 44 \ Raio: 1.1 \ Ângulo: 80.0 Recompensa: 161.87323370021568 ------------------------------------------------- success
Jogo: 45 \ Raio: 1.1 \ Ângulo: 90.0 Recompensa: 154.30999223311272 -------------------------------------------------
Jogo: 46 \ Raio: 1.1 \ Ângulo: 100.0 Recompensa: -138.07125814922873 ------------------------------------------------- success
Jogo: 47 \ Raio: 1.1 \ Ângulo: 110.0 Recompensa: 134.5185960519679 ------------------------------------------------- success
Jogo: 48 \ Raio: 1.1 \ Ângulo: 119.99999999999999 Recompensa: 125.16912563831758 -------------------------------------------------
Jogo: 49 \ Raio: 1.1 \ Ângulo: 130.0 Recompensa: -156.48394139137355 -------------------------------------------------
Jogo: 50 \ Raio: 1.1 \ Ângulo: 140.0 Recompensa: -161.16442922923997 -------------------------------------------------
Jogo: 51 \ Raio: 1.1 \ Ângulo: 150.00000000000003 Recompensa: -165.102703634294 ------------------------------------------------- success
Jogo: 52 \ Raio: 1.1 \ Ângulo: 160.0 Recompensa: 109.13821724262607 ------------------------------------------------- success
Jogo: 53 \ Raio: 1.1 \ Ângulo: 170.0 Recompensa: 46.741155899854675 -------------------------------------------------
Jogo: 54 \ Raio: 1.1 \ Ângulo: 180.0 Recompensa: -193.41755860099082 -------------------------------------------------
Jogo: 55 \ Raio: 1.1 \ Ângulo: 190.0 Recompensa: -184.37356863772268 -------------------------------------------------
Jogo: 56 \ Raio: 1.1 \ Ângulo: 200.0 Recompensa: -170.86524368998425 ------------------------------------------------- success
Jogo: 57 \ Raio: 1.1 \ Ângulo: 209.99999999999997 Recompensa: 118.8020581307451 -------------------------------------------------
Jogo: 58 \ Raio: 1.1 \ Ângulo: 220.0 Recompensa: -155.46800129632763 -------------------------------------------------
Jogo: 59 \ Raio: 1.1 \ Ângulo: 229.99999999999997 Recompensa: -152.6209880443074 -------------------------------------------------
Jogo: 60 \ Raio: 1.1 \ Ângulo: 239.99999999999997 Recompensa: -143.99752167636746 ------------------------------------------------- success
Jogo: 61 \ Raio: 1.1 \ Ângulo: 249.99999999999997 Recompensa: 153.1034005993654 ------------------------------------------------- success
Jogo: 62 \ Raio: 1.1 \ Ângulo: 260.0 Recompensa: 88.79676831162834 ------------------------------------------------- success
Jogo: 63 \ Raio: 1.1 \ Ângulo: 270.0 Recompensa: 163.87278593023802 ------------------------------------------------- success
Jogo: 64 \ Raio: 1.1 \ Ângulo: 280.0 Recompensa: 166.35084682859983 ------------------------------------------------- success
Jogo: 65 \ Raio: 1.1 \ Ângulo: 290.0 Recompensa: 169.79145732749453 ------------------------------------------------- success
Jogo: 66 \ Raio: 1.1 \ Ângulo: 300.00000000000006 Recompensa: 123.07947112961192 -------------------------------------------------
Jogo: 67 \ Raio: 1.1 \ Ângulo: 310.0 Recompensa: -126.63257977475232 ------------------------------------------------- success
Jogo: 68 \ Raio: 1.1 \ Ângulo: 320.0 Recompensa: 157.19316741567278 ------------------------------------------------- success
Jogo: 69 \ Raio: 1.1 \ Ângulo: 329.99999999999994 Recompensa: 131.4970734121196 ------------------------------------------------- success
Jogo: 70 \ Raio: 1.1 \ Ângulo: 340.0 Recompensa: 150.66959986558658 ------------------------------------------------- success
Jogo: 71 \ Raio: 1.1 \ Ângulo: 350.00000000000006 Recompensa: 106.14901626767319 ------------------------------------------------- success
Jogo: 72 \ Raio: 1.2000000000000002 \ Ângulo: 0.0 Recompensa: 175.5110756128724 ------------------------------------------------- success
Jogo: 73 \ Raio: 1.2000000000000002 \ Ângulo: 10.0 Recompensa: 160.41193915451575 ------------------------------------------------- success
Jogo: 74 \ Raio: 1.2000000000000002 \ Ângulo: 20.0 Recompensa: 174.52509046296697 ------------------------------------------------- success
Jogo: 75 \ Raio: 1.2000000000000002 \ Ângulo: 29.999999999999996 Recompensa: 157.94431888593252 ------------------------------------------------- success
Jogo: 76 \ Raio: 1.2000000000000002 \ Ângulo: 40.0 Recompensa: 171.31212592520805 ------------------------------------------------- success
Jogo: 77 \ Raio: 1.2000000000000002 \ Ângulo: 50.0 Recompensa: 144.98911940897213 ------------------------------------------------- success
Jogo: 78 \ Raio: 1.2000000000000002 \ Ângulo: 59.99999999999999 Recompensa: 147.89979597770338 ------------------------------------------------- success
Jogo: 79 \ Raio: 1.2000000000000002 \ Ângulo: 70.0 Recompensa: 160.27995538081134 ------------------------------------------------- success
Jogo: 80 \ Raio: 1.2000000000000002 \ Ângulo: 80.0 Recompensa: 153.6023757872773 ------------------------------------------------- success
Jogo: 81 \ Raio: 1.2000000000000002 \ Ângulo: 90.0 Recompensa: 159.38281169459336 ------------------------------------------------- success
Jogo: 82 \ Raio: 1.2000000000000002 \ Ângulo: 100.0 Recompensa: 107.7315190275458 ------------------------------------------------- success
Jogo: 83 \ Raio: 1.2000000000000002 \ Ângulo: 110.0 Recompensa: 144.14233548293362 ------------------------------------------------- success
Jogo: 84 \ Raio: 1.2000000000000002 \ Ângulo: 119.99999999999999 Recompensa: 152.8125070974821 ------------------------------------------------- success
Jogo: 85 \ Raio: 1.2000000000000002 \ Ângulo: 130.0 Recompensa: 142.09986019561586 ------------------------------------------------- success
Jogo: 86 \ Raio: 1.2000000000000002 \ Ângulo: 140.0 Recompensa: 118.88934620235032 ------------------------------------------------- success
Jogo: 87 \ Raio: 1.2000000000000002 \ Ângulo: 150.00000000000003 Recompensa: 115.99505389813369 ------------------------------------------------- success
Jogo: 88 \ Raio: 1.2000000000000002 \ Ângulo: 160.0 Recompensa: 103.4035909293339 ------------------------------------------------- success
Jogo: 89 \ Raio: 1.2000000000000002 \ Ângulo: 170.0 Recompensa: 80.87097770735438 -------------------------------------------------
Jogo: 90 \ Raio: 1.2000000000000002 \ Ângulo: 180.0 Recompensa: -197.99663640064747 -------------------------------------------------
Jogo: 91 \ Raio: 1.2000000000000002 \ Ângulo: 190.0 Recompensa: -182.3779693524569 ------------------------------------------------- success
Jogo: 92 \ Raio: 1.2000000000000002 \ Ângulo: 200.0 Recompensa: 108.91011795903943 ------------------------------------------------- success
Jogo: 93 \ Raio: 1.2000000000000002 \ Ângulo: 209.99999999999997 Recompensa: 121.0790440048002 -------------------------------------------------
Jogo: 94 \ Raio: 1.2000000000000002 \ Ângulo: 220.0 Recompensa: -156.5376075891666 ------------------------------------------------- success
Jogo: 95 \ Raio: 1.2000000000000002 \ Ângulo: 229.99999999999997 Recompensa: 136.59952353762182 ------------------------------------------------- success
Jogo: 96 \ Raio: 1.2000000000000002 \ Ângulo: 239.99999999999997 Recompensa: 136.7558664379987 ------------------------------------------------- success
Jogo: 97 \ Raio: 1.2000000000000002 \ Ângulo: 249.99999999999997 Recompensa: 148.08891535876046 ------------------------------------------------- success
Jogo: 98 \ Raio: 1.2000000000000002 \ Ângulo: 260.0 Recompensa: 134.0008875399758 ------------------------------------------------- success
Jogo: 99 \ Raio: 1.2000000000000002 \ Ângulo: 270.0 Recompensa: 164.2163737509189 ------------------------------------------------- success
Jogo: 100 \ Raio: 1.2000000000000002 \ Ângulo: 280.0 Recompensa: 166.87282118516873 ------------------------------------------------- success
Jogo: 101 \ Raio: 1.2000000000000002 \ Ângulo: 290.0 Recompensa: 170.79589785350956 ------------------------------------------------- success
Jogo: 102 \ Raio: 1.2000000000000002 \ Ângulo: 300.00000000000006 Recompensa: 145.97617167832937 ------------------------------------------------- success
Jogo: 103 \ Raio: 1.2000000000000002 \ Ângulo: 310.0 Recompensa: 163.3396055025093 ------------------------------------------------- success
Jogo: 104 \ Raio: 1.2000000000000002 \ Ângulo: 320.0 Recompensa: 168.66131859493026 ------------------------------------------------- success
Jogo: 105 \ Raio: 1.2000000000000002 \ Ângulo: 329.99999999999994 Recompensa: 169.07351970836896 ------------------------------------------------- success
Jogo: 106 \ Raio: 1.2000000000000002 \ Ângulo: 340.0 Recompensa: 145.019671059004 ------------------------------------------------- success
Jogo: 107 \ Raio: 1.2000000000000002 \ Ângulo: 350.00000000000006 Recompensa: 142.46826823599872 ------------------------------------------------- success
Jogo: 108 \ Raio: 1.3000000000000003 \ Ângulo: 0.0 Recompensa: 167.40891514763243 ------------------------------------------------- success
Jogo: 109 \ Raio: 1.3000000000000003 \ Ângulo: 10.0 Recompensa: 110.07774521864376 ------------------------------------------------- success
Jogo: 110 \ Raio: 1.3000000000000003 \ Ângulo: 20.0 Recompensa: 87.1527542199504 ------------------------------------------------- success
Jogo: 111 \ Raio: 1.3000000000000003 \ Ângulo: 29.999999999999996 Recompensa: 169.712459074586 ------------------------------------------------- success
Jogo: 112 \ Raio: 1.3000000000000003 \ Ângulo: 40.0 Recompensa: 173.45261186818271 ------------------------------------------------- success
Jogo: 113 \ Raio: 1.3000000000000003 \ Ângulo: 50.0 Recompensa: 156.03542189735077 ------------------------------------------------- success
Jogo: 114 \ Raio: 1.3000000000000003 \ Ângulo: 59.99999999999999 Recompensa: 158.99444460958367 ------------------------------------------------- success
Jogo: 115 \ Raio: 1.3000000000000003 \ Ângulo: 70.0 Recompensa: 159.98592912172217 ------------------------------------------------- success
Jogo: 116 \ Raio: 1.3000000000000003 \ Ângulo: 80.0 Recompensa: 163.72710142549073 ------------------------------------------------- success
Jogo: 117 \ Raio: 1.3000000000000003 \ Ângulo: 90.0 Recompensa: 154.8814791299651 ------------------------------------------------- success
Jogo: 118 \ Raio: 1.3000000000000003 \ Ângulo: 100.0 Recompensa: 162.7881718867357 ------------------------------------------------- success
Jogo: 119 \ Raio: 1.3000000000000003 \ Ângulo: 110.0 Recompensa: 142.8864900657721 ------------------------------------------------- success
Jogo: 120 \ Raio: 1.3000000000000003 \ Ângulo: 119.99999999999999 Recompensa: 151.1655852384364 ------------------------------------------------- success
Jogo: 121 \ Raio: 1.3000000000000003 \ Ângulo: 130.0 Recompensa: 119.24790750461037 -------------------------------------------------
Jogo: 122 \ Raio: 1.3000000000000003 \ Ângulo: 140.0 Recompensa: -168.71031318217325 ------------------------------------------------- success
Jogo: 123 \ Raio: 1.3000000000000003 \ Ângulo: 150.00000000000003 Recompensa: 121.61482116971578 -------------------------------------------------
Jogo: 124 \ Raio: 1.3000000000000003 \ Ângulo: 160.0 Recompensa: -192.9170171186428 ------------------------------------------------- success
Jogo: 125 \ Raio: 1.3000000000000003 \ Ângulo: 170.0 Recompensa: 54.02184923609295 -------------------------------------------------
Jogo: 126 \ Raio: 1.3000000000000003 \ Ângulo: 180.0 Recompensa: -201.3956974676346 ------------------------------------------------- success
Jogo: 127 \ Raio: 1.3000000000000003 \ Ângulo: 190.0 Recompensa: 31.881804497267268 -------------------------------------------------
Jogo: 128 \ Raio: 1.3000000000000003 \ Ângulo: 200.0 Recompensa: -176.5845557789945 -------------------------------------------------
Jogo: 129 \ Raio: 1.3000000000000003 \ Ângulo: 209.99999999999997 Recompensa: -167.93617891818246 ------------------------------------------------- success
Jogo: 130 \ Raio: 1.3000000000000003 \ Ângulo: 220.0 Recompensa: 131.11271113922066 ------------------------------------------------- success
Jogo: 131 \ Raio: 1.3000000000000003 \ Ângulo: 229.99999999999997 Recompensa: 130.23262326333423 ------------------------------------------------- success
Jogo: 132 \ Raio: 1.3000000000000003 \ Ângulo: 239.99999999999997 Recompensa: 106.07898160844692 ------------------------------------------------- success
Jogo: 133 \ Raio: 1.3000000000000003 \ Ângulo: 249.99999999999997 Recompensa: 147.19263869484578 ------------------------------------------------- success
Jogo: 134 \ Raio: 1.3000000000000003 \ Ângulo: 260.0 Recompensa: 151.0931966632241 -------------------------------------------------
Jogo: 135 \ Raio: 1.3000000000000003 \ Ângulo: 270.0 Recompensa: -134.26592273985875 ------------------------------------------------- success
Jogo: 136 \ Raio: 1.3000000000000003 \ Ângulo: 280.0 Recompensa: 162.71837278909214 ------------------------------------------------- success
Jogo: 137 \ Raio: 1.3000000000000003 \ Ângulo: 290.0 Recompensa: 145.04339943523115 -------------------------------------------------
Jogo: 138 \ Raio: 1.3000000000000003 \ Ângulo: 300.00000000000006 Recompensa: -117.48065650109906 ------------------------------------------------- success
Jogo: 139 \ Raio: 1.3000000000000003 \ Ângulo: 310.0 Recompensa: 169.3709743948869 ------------------------------------------------- success
Jogo: 140 \ Raio: 1.3000000000000003 \ Ângulo: 320.0 Recompensa: 179.32623852495064 ------------------------------------------------- success
Jogo: 141 \ Raio: 1.3000000000000003 \ Ângulo: 329.99999999999994 Recompensa: 179.83322048838687 ------------------------------------------------- success
Jogo: 142 \ Raio: 1.3000000000000003 \ Ângulo: 340.0 Recompensa: 166.02298579089148 ------------------------------------------------- success
Jogo: 143 \ Raio: 1.3000000000000003 \ Ângulo: 350.00000000000006 Recompensa: 116.37744308368504 -------------------------------------------------
Jogo: 144 \ Raio: 1.4000000000000004 \ Ângulo: 0.0 Recompensa: -121.38789908187104 ------------------------------------------------- success
Jogo: 145 \ Raio: 1.4000000000000004 \ Ângulo: 10.0 Recompensa: 153.36999661339618 ------------------------------------------------- success
Jogo: 146 \ Raio: 1.4000000000000004 \ Ângulo: 20.0 Recompensa: 136.68751292542348 ------------------------------------------------- success
Jogo: 147 \ Raio: 1.4000000000000004 \ Ângulo: 29.999999999999996 Recompensa: 171.31459779118256 ------------------------------------------------- success
Jogo: 148 \ Raio: 1.4000000000000004 \ Ângulo: 40.0 Recompensa: 173.98298831546055 ------------------------------------------------- success
Jogo: 149 \ Raio: 1.4000000000000004 \ Ângulo: 50.0 Recompensa: 167.78871964664347 ------------------------------------------------- success
Jogo: 150 \ Raio: 1.4000000000000004 \ Ângulo: 59.99999999999999 Recompensa: 144.38701599568327 -------------------------------------------------
Jogo: 151 \ Raio: 1.4000000000000004 \ Ângulo: 70.0 Recompensa: -134.35033627561123 -------------------------------------------------
Jogo: 152 \ Raio: 1.4000000000000004 \ Ângulo: 80.0 Recompensa: -132.9962573723931 -------------------------------------------------
Jogo: 153 \ Raio: 1.4000000000000004 \ Ângulo: 90.0 Recompensa: -136.81474246908834 -------------------------------------------------
Jogo: 154 \ Raio: 1.4000000000000004 \ Ângulo: 100.0 Recompensa: -141.56747535068615 ------------------------------------------------- success
Jogo: 155 \ Raio: 1.4000000000000004 \ Ângulo: 110.0 Recompensa: 140.24657666053196 ------------------------------------------------- success
Jogo: 156 \ Raio: 1.4000000000000004 \ Ângulo: 119.99999999999999 Recompensa: 138.65374164728587 ------------------------------------------------- success
Jogo: 157 \ Raio: 1.4000000000000004 \ Ângulo: 130.0 Recompensa: 115.05869104004944 -------------------------------------------------
Jogo: 158 \ Raio: 1.4000000000000004 \ Ângulo: 140.0 Recompensa: -178.04597860249896 ------------------------------------------------- success
Jogo: 159 \ Raio: 1.4000000000000004 \ Ângulo: 150.00000000000003 Recompensa: 112.56140304343837 -------------------------------------------------
Jogo: 160 \ Raio: 1.4000000000000004 \ Ângulo: 160.0 Recompensa: -202.6798772224127 -------------------------------------------------
Jogo: 161 \ Raio: 1.4000000000000004 \ Ângulo: 170.0 Recompensa: -205.8440909104169 -------------------------------------------------
Jogo: 162 \ Raio: 1.4000000000000004 \ Ângulo: 180.0 Recompensa: -204.6076779723208 -------------------------------------------------
Jogo: 163 \ Raio: 1.4000000000000004 \ Ângulo: 190.0 Recompensa: -185.09753351111908 ------------------------------------------------- success
Jogo: 164 \ Raio: 1.4000000000000004 \ Ângulo: 200.0 Recompensa: 107.87149254549784 -------------------------------------------------
Jogo: 165 \ Raio: 1.4000000000000004 \ Ângulo: 209.99999999999997 Recompensa: -175.05311788408935 -------------------------------------------------
Jogo: 166 \ Raio: 1.4000000000000004 \ Ângulo: 220.0 Recompensa: -161.41999377012115 -------------------------------------------------
Jogo: 167 \ Raio: 1.4000000000000004 \ Ângulo: 229.99999999999997 Recompensa: -157.78748896957146 ------------------------------------------------- success
Jogo: 168 \ Raio: 1.4000000000000004 \ Ângulo: 239.99999999999997 Recompensa: 145.4798635775054 ------------------------------------------------- success
Jogo: 169 \ Raio: 1.4000000000000004 \ Ângulo: 249.99999999999997 Recompensa: 150.8150548542634 -------------------------------------------------
Jogo: 170 \ Raio: 1.4000000000000004 \ Ângulo: 260.0 Recompensa: -143.81033282172243 ------------------------------------------------- success
Jogo: 171 \ Raio: 1.4000000000000004 \ Ângulo: 270.0 Recompensa: 154.0584685851961 -------------------------------------------------
Jogo: 172 \ Raio: 1.4000000000000004 \ Ângulo: 280.0 Recompensa: -129.82852773191743 -------------------------------------------------
Jogo: 173 \ Raio: 1.4000000000000004 \ Ângulo: 290.0 Recompensa: -124.17434727353591 -------------------------------------------------
Jogo: 174 \ Raio: 1.4000000000000004 \ Ângulo: 300.00000000000006 Recompensa: -118.52190425964439 ------------------------------------------------- success
Jogo: 175 \ Raio: 1.4000000000000004 \ Ângulo: 310.0 Recompensa: 179.24751532599782 ------------------------------------------------- success
Jogo: 176 \ Raio: 1.4000000000000004 \ Ângulo: 320.0 Recompensa: 180.62858431532112 ------------------------------------------------- success
Jogo: 177 \ Raio: 1.4000000000000004 \ Ângulo: 329.99999999999994 Recompensa: 176.45494168532477 -------------------------------------------------
Jogo: 178 \ Raio: 1.4000000000000004 \ Ângulo: 340.0 Recompensa: -119.36901680661174 ------------------------------------------------- success
Jogo: 179 \ Raio: 1.4000000000000004 \ Ângulo: 350.00000000000006 Recompensa: 100.21725579713593 ------------------------------------------------- success
Jogo: 180 \ Raio: 1.5000000000000004 \ Ângulo: 0.0 Recompensa: 184.4665395525654 ------------------------------------------------- success
Jogo: 181 \ Raio: 1.5000000000000004 \ Ângulo: 10.0 Recompensa: 178.88620879588154 ------------------------------------------------- success
Jogo: 182 \ Raio: 1.5000000000000004 \ Ângulo: 20.0 Recompensa: 118.45731319112168 ------------------------------------------------- success
Jogo: 183 \ Raio: 1.5000000000000004 \ Ângulo: 29.999999999999996 Recompensa: 161.9516140755319 ------------------------------------------------- success
Jogo: 184 \ Raio: 1.5000000000000004 \ Ângulo: 40.0 Recompensa: 170.74356251954615 ------------------------------------------------- success
Jogo: 185 \ Raio: 1.5000000000000004 \ Ângulo: 50.0 Recompensa: 179.23333788488364 ------------------------------------------------- success
Jogo: 186 \ Raio: 1.5000000000000004 \ Ângulo: 59.99999999999999 Recompensa: 122.07624164005138 ------------------------------------------------- success
Jogo: 187 \ Raio: 1.5000000000000004 \ Ângulo: 70.0 Recompensa: 170.6949442508609 ------------------------------------------------- success
Jogo: 188 \ Raio: 1.5000000000000004 \ Ângulo: 80.0 Recompensa: 162.90813266837114 ------------------------------------------------- success
Jogo: 189 \ Raio: 1.5000000000000004 \ Ângulo: 90.0 Recompensa: 153.3210188466562 -------------------------------------------------
Jogo: 190 \ Raio: 1.5000000000000004 \ Ângulo: 100.0 Recompensa: -146.19440552521928 ------------------------------------------------- success
Jogo: 191 \ Raio: 1.5000000000000004 \ Ângulo: 110.0 Recompensa: 148.64323058661492 ------------------------------------------------- success
Jogo: 192 \ Raio: 1.5000000000000004 \ Ângulo: 119.99999999999999 Recompensa: 136.9401336157391 -------------------------------------------------
Jogo: 193 \ Raio: 1.5000000000000004 \ Ângulo: 130.0 Recompensa: -175.94131543463118 -------------------------------------------------
Jogo: 194 \ Raio: 1.5000000000000004 \ Ângulo: 140.0 Recompensa: -183.3219211599441 -------------------------------------------------
Jogo: 195 \ Raio: 1.5000000000000004 \ Ângulo: 150.00000000000003 Recompensa: -198.69218134831283 -------------------------------------------------
Jogo: 196 \ Raio: 1.5000000000000004 \ Ângulo: 160.0 Recompensa: -216.99299860521174 -------------------------------------------------
Jogo: 197 \ Raio: 1.5000000000000004 \ Ângulo: 170.0 Recompensa: -206.37318540171145 ------------------------------------------------- success
Jogo: 198 \ Raio: 1.5000000000000004 \ Ângulo: 180.0 Recompensa: 75.70051361768779 -------------------------------------------------
Jogo: 199 \ Raio: 1.5000000000000004 \ Ângulo: 190.0 Recompensa: -195.47668133603332 ------------------------------------------------- success
Jogo: 200 \ Raio: 1.5000000000000004 \ Ângulo: 200.0 Recompensa: 107.79284016770293 -------------------------------------------------
Jogo: 201 \ Raio: 1.5000000000000004 \ Ângulo: 209.99999999999997 Recompensa: -180.04117274595689 ------------------------------------------------- success
Jogo: 202 \ Raio: 1.5000000000000004 \ Ângulo: 220.0 Recompensa: 98.09128137654889 ------------------------------------------------- success
Jogo: 203 \ Raio: 1.5000000000000004 \ Ângulo: 229.99999999999997 Recompensa: 126.19544749700918 ------------------------------------------------- success
Jogo: 204 \ Raio: 1.5000000000000004 \ Ângulo: 239.99999999999997 Recompensa: 139.338315821575 ------------------------------------------------- success
Jogo: 205 \ Raio: 1.5000000000000004 \ Ângulo: 249.99999999999997 Recompensa: 130.15725824979583 -------------------------------------------------
Jogo: 206 \ Raio: 1.5000000000000004 \ Ângulo: 260.0 Recompensa: -144.66884039270613 -------------------------------------------------
Jogo: 207 \ Raio: 1.5000000000000004 \ Ângulo: 270.0 Recompensa: -139.32890751875655 -------------------------------------------------
Jogo: 208 \ Raio: 1.5000000000000004 \ Ângulo: 280.0 Recompensa: -132.41739695828247 ------------------------------------------------- success
Jogo: 209 \ Raio: 1.5000000000000004 \ Ângulo: 290.0 Recompensa: 176.62705962516463 ------------------------------------------------- success
Jogo: 210 \ Raio: 1.5000000000000004 \ Ângulo: 300.00000000000006 Recompensa: 97.09251041790282 ------------------------------------------------- success
Jogo: 211 \ Raio: 1.5000000000000004 \ Ângulo: 310.0 Recompensa: 174.2437745321842 ------------------------------------------------- success
Jogo: 212 \ Raio: 1.5000000000000004 \ Ângulo: 320.0 Recompensa: 180.58222495824918 ------------------------------------------------- success
Jogo: 213 \ Raio: 1.5000000000000004 \ Ângulo: 329.99999999999994 Recompensa: 182.40568952122362 ------------------------------------------------- success
Jogo: 214 \ Raio: 1.5000000000000004 \ Ângulo: 340.0 Recompensa: 155.7656342261972 ------------------------------------------------- success
Jogo: 215 \ Raio: 1.5000000000000004 \ Ângulo: 350.00000000000006 Recompensa: 166.94284644294396 ------------------------------------------------- success
Jogo: 216 \ Raio: 1.6000000000000005 \ Ângulo: 0.0 Recompensa: 175.66389614802114 ------------------------------------------------- success
Jogo: 217 \ Raio: 1.6000000000000005 \ Ângulo: 10.0 Recompensa: 169.60691349307615 -------------------------------------------------
Jogo: 218 \ Raio: 1.6000000000000005 \ Ângulo: 20.0 Recompensa: -119.189702004327 -------------------------------------------------
Jogo: 219 \ Raio: 1.6000000000000005 \ Ângulo: 29.999999999999996 Recompensa: -119.11873538367901 ------------------------------------------------- success
Jogo: 220 \ Raio: 1.6000000000000005 \ Ângulo: 40.0 Recompensa: 177.2680460442778 ------------------------------------------------- success
Jogo: 221 \ Raio: 1.6000000000000005 \ Ângulo: 50.0 Recompensa: 162.48593670948236 ------------------------------------------------- success
Jogo: 222 \ Raio: 1.6000000000000005 \ Ângulo: 59.99999999999999 Recompensa: 160.19199062965262 ------------------------------------------------- success
Jogo: 223 \ Raio: 1.6000000000000005 \ Ângulo: 70.0 Recompensa: 160.86182777453854 ------------------------------------------------- success
Jogo: 224 \ Raio: 1.6000000000000005 \ Ângulo: 80.0 Recompensa: 172.55563099128256 ------------------------------------------------- success
Jogo: 225 \ Raio: 1.6000000000000005 \ Ângulo: 90.0 Recompensa: 113.20900062889012 ------------------------------------------------- success
Jogo: 226 \ Raio: 1.6000000000000005 \ Ângulo: 100.0 Recompensa: 149.35110766085958 ------------------------------------------------- success
Jogo: 227 \ Raio: 1.6000000000000005 \ Ângulo: 110.0 Recompensa: 147.6548619551706 ------------------------------------------------- success
Jogo: 228 \ Raio: 1.6000000000000005 \ Ângulo: 119.99999999999999 Recompensa: 124.58744122574099 -------------------------------------------------
Jogo: 229 \ Raio: 1.6000000000000005 \ Ângulo: 130.0 Recompensa: -176.05438435047776 -------------------------------------------------
Jogo: 230 \ Raio: 1.6000000000000005 \ Ângulo: 140.0 Recompensa: -191.82569910775717 ------------------------------------------------- success
Jogo: 231 \ Raio: 1.6000000000000005 \ Ângulo: 150.00000000000003 Recompensa: 106.1184937383331 ------------------------------------------------- success
Jogo: 232 \ Raio: 1.6000000000000005 \ Ângulo: 160.0 Recompensa: 58.02668235351257 -------------------------------------------------
Jogo: 233 \ Raio: 1.6000000000000005 \ Ângulo: 170.0 Recompensa: -208.07836888466912 ------------------------------------------------- success
Jogo: 234 \ Raio: 1.6000000000000005 \ Ângulo: 180.0 Recompensa: 32.374421733175666 -------------------------------------------------
Jogo: 235 \ Raio: 1.6000000000000005 \ Ângulo: 190.0 Recompensa: -204.2688070038246 ------------------------------------------------- success
Jogo: 236 \ Raio: 1.6000000000000005 \ Ângulo: 200.0 Recompensa: 86.9299872363518 ------------------------------------------------- success
Jogo: 237 \ Raio: 1.6000000000000005 \ Ângulo: 209.99999999999997 Recompensa: 98.996642047997 ------------------------------------------------- success
Jogo: 238 \ Raio: 1.6000000000000005 \ Ângulo: 220.0 Recompensa: 85.7574828216049 -------------------------------------------------
Jogo: 239 \ Raio: 1.6000000000000005 \ Ângulo: 229.99999999999997 Recompensa: -163.892597456652 ------------------------------------------------- success
Jogo: 240 \ Raio: 1.6000000000000005 \ Ângulo: 239.99999999999997 Recompensa: 142.08799217494803 ------------------------------------------------- success
Jogo: 241 \ Raio: 1.6000000000000005 \ Ângulo: 249.99999999999997 Recompensa: 137.93980455781616 -------------------------------------------------
Jogo: 242 \ Raio: 1.6000000000000005 \ Ângulo: 260.0 Recompensa: -145.99594209683372 -------------------------------------------------
Jogo: 243 \ Raio: 1.6000000000000005 \ Ângulo: 270.0 Recompensa: -142.55587842925885 -------------------------------------------------
Jogo: 244 \ Raio: 1.6000000000000005 \ Ângulo: 280.0 Recompensa: -132.45020043349933 -------------------------------------------------
Jogo: 245 \ Raio: 1.6000000000000005 \ Ângulo: 290.0 Recompensa: -128.48195327798842 -------------------------------------------------
Jogo: 246 \ Raio: 1.6000000000000005 \ Ângulo: 300.00000000000006 Recompensa: -125.33390541016746 ------------------------------------------------- success
Jogo: 247 \ Raio: 1.6000000000000005 \ Ângulo: 310.0 Recompensa: 117.45646827633198 ------------------------------------------------- success
Jogo: 248 \ Raio: 1.6000000000000005 \ Ângulo: 320.0 Recompensa: 180.87202276291026 ------------------------------------------------- success
Jogo: 249 \ Raio: 1.6000000000000005 \ Ângulo: 329.99999999999994 Recompensa: 181.38441395984304 -------------------------------------------------
Jogo: 250 \ Raio: 1.6000000000000005 \ Ângulo: 340.0 Recompensa: -112.75894068074027 ------------------------------------------------- success
Jogo: 251 \ Raio: 1.6000000000000005 \ Ângulo: 350.00000000000006 Recompensa: 181.32843107897583 -------------------------------------------------
In [13]:
import matplotlib.pyplot as plt
radius, angles = zip(*success_games)
plt.figure()
ax = plt.subplot(111, projection='polar')
scatter = ax.scatter(angles, radius, color='blue')
ax.set_ylim(0.8, 1.55)
ax.set_xticks([0, np.pi/4, np.pi/2, 3*np.pi/4, np.pi, 5*np.pi/4, 3*np.pi/2, 7*np.pi/4])
ax.set_xticklabels(['0°', '45°', '90°', '135°', '180°', '225°', '270°', '315°'])
percentage = len(success_games) / 250 * 100
percentage_formatted = f"{percentage:.2f}%"
plt.figtext(0.5, 0, f'Taxa de sucesso: {percentage_formatted}', ha='center', fontsize=12)
plt.title('Gráfico de Testes Bem-Sucedidos do Robô Treinado')
plt.show()
